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Consolidated Statements of Shareholders' Equity [Parenthetical] - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash dividends declared (in dollars per share) $ 0.24 $ 0.24 $ 0.24
Voting and Nonvoting Common Stock | Common Stock      
Repurchased shares of common stock (in shares) 779,956 100,000