CDC says ~ 60,000 to 2.5 million[1] which is a massive range spanning nearly 2 orders of magnitude. It's likely on the higher side because who calls the cops when they had to brandish a firearm to scare someone away... Brandishing is illegal in many states.

That changes the calculus even more.

[1] https://www.cdc.gov/violenceprevention/firearms/fastfact.htm...