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Consolidated Statements of Changes in Shareholders' Equity (unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Consolidated Statements of Changes in Shareholders' Equity (unaudited)        
Common stock cash dividends declared, per share (in dollars per share) $ 0.52 $ 0.50 $ 1.52 $ 1.48