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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares
3 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Statement of Stockholders' Equity [Abstract]        
Cash dividends declared (in dollars per share) $ 0.26 $ 0.26 $ 0.26 $ 0.26
Common stock purchased by directors' deferred compensation plan, net shares (in shares)     (38,000) (40,670)