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Shareholders' Equity (Details Textual) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 20, 2022	Oct. 31, 2022	Oct. 20, 2021
Stock Repurchase Program
Shareholders Equity [Line Items]
Stock repurchase program, authorized amount				$ 35.0	$ 30.0
Repurchased shares of common stock (in shares)	855,956
Stock repurchased, average price per share (in dollars per share)	$ 36.31
New Stock Repurchase Program
Shareholders Equity [Line Items]
Stock repurchase program, authorized amount			$ 25.0
Repurchased shares of common stock (in shares)	502,525	46,497
Stock repurchased, average price per share (in dollars per share)	$ 18.40	$ 24.42
Stock repurchase program, remaining authorized repurchase amount	$ 14.6

Number of shares that have been repurchased during the period and have not been retired and are not held in treasury. Some state laws may govern the circumstances under which an entity may acquire its own stock and prescribe the accounting treatment therefore. This element is used when state law does not recognize treasury stock.

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