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Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Increase (Decrease) in Stockholders' Equity [Roll forward]        
Dividends declared per share (in dollars per share) $ 0.46 $ 0.44 $ 1.34 $ 1.24