Consolidated Balance Sheets (Parenthetical) - shares	Dec. 31, 2022	Dec. 31, 2021
Shareholders’ equity
Preferred stock, authorized shares (in shares)	10,000,000	10,000,000
Common stock, authorized shares (in shares)	200,000,000	200,000,000
Common stock, issued shares (in shares)	109,470,795	109,311,785
Common stock, outstanding shares (in shares)	109,470,795	109,311,785