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Stock Option Plans - Assumptions Used to Value Option Grants (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected life in years 7 years  
Interest rate 2.79%  
Interest rate, minimum   0.42%
Interest rate, maximum   1.11%
Volatility 0.413%  
Volatility, minimum   0.397%
Volatility, maximum   0.415%
Dividend yield 1.9% 1.3 - 1.8%
Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected life in years   6 years
Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected life in years   7 years