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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]      
Deferred income taxes $ 605 $ (10,622) $ (6,241)
Stock appreciation rights exercised (in shares)   16,671 28,789
Vesting of restricted stock units (in shares) 345,195 257,423 193,260
Vesting of performance shares (in shares)     69,127