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Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Consolidated Statements of Shareholders' Equity        
Dividend paid per share $ 0.22   $ 0.22 $ 0.20
Restricted stock vesting, shares surrendered 54 54 87 97