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Condensed Consolidated Statements of Stockholders' Equity (Parenthetical) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Statement of Stockholders' Equity [Abstract]        
Purchase of common shares for treasury (in shares) 51,241   51,241  
Common shares issues net of shares withheld (in shares) 58,432 26,167 91,316 60,607