Can I afford a $140,000 house making $50,000 a year?

I make $50,000 a year. I have no car payment or student loan. I have about $5,000 in credit cards. Can I afford a $140,000 house?
Update: I do have enough money to put a 20% down payment but Im not sure if I want to. Any suggestions on that as well?
Update 2: I have a credit score of 720... is that good?
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