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Earnings per Share Earnings per Share (Tables)
 12 Months Ended
Dec. 31, 2023
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]  
Schedule of Weighted Average Number of Shares [Table Text Block] The following table summarizes the dilutive effect of RSUs and options to purchase common stock:
Year ended December 31,
202320222021
Weighted average common shares—basic41,439,027 42,249,244 43,006,922 
Dilutive effect of restricted stock units246,321 228,771 261,858 
Dilutive effect of stock options— — 12,296 
Weighted average common shares—diluted41,685,348 42,478,015 43,281,076