It depends on the size of the competition and who the governing body is that's sanctioning the particular competition.
A local or state competition often only requires one (possibly two) judges per event. The U.S. Junior Olympic National competition requires four judges per event. The Olympics and many international competitions divide their judges into two panels: the D-panel (which determines the D-score based on the content of the routine and difficulty of its skills) and the E-panel (which determines execution and form errors). Two judges are required on the D-panel, and six judges are required on the E-panel.
There are many more variations than this, but this should give you an idea of how some places break it down.
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