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Common and Preferred Stock (Tables)
12 Months Ended
Dec. 31, 2022
Stockholders' Equity Note [Abstract]  
Schedule of changes in the number of common stock shares outstanding
   Year Ended December 31, 
   2022   2021   2020 
Shares outstanding, beginning   21,219,808    21,318,638    22,119,380 
Treasury shares repurchased through stock repurchase authorization   (269,160)   (225,205)   (856,499)
Issuance of treasury shares for vesting of stock awards   101,292    102,060    31,442 
Issuance of shares related to employee stock ownership plan   24,315    24,315    24,315 
Shares outstanding, ending   21,076,255    21,219,808    21,318,638