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Condensed Consolidated Statements of Stockholders' Equity (Parenthetical) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Statement of Stockholders' Equity [Abstract]        
Purchase of common shares for treasury (in shares) 12,102   63,343  
Common shares issues net of shares withheld (in shares) 0 605 91,316 61,212