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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Share-based Compensation, Equity Instruments Other Than Options, Activity The table below summarizes award activity.
 Year Ended December 31
 202320222021
 Number of
Awards
Weighted
average
grant-date
fair value
Number of
Awards
Weighted
average
grant-date
fair value
Number of
Awards
Weighted
average
grant-date
fair value
Outstanding at beginning of period929,205 $21.83 978,188 $17.49 1,085,023 $17.14 
Granted661,396 20.46 292,577 35.19 273,845 26.65 
Converted(374,267)23.07 (327,160)20.43 (316,430)22.76 
Expired(117,550)24.12 (3,000)40.02 (58,650)24.79 
Forfeited(32,000)24.71 (11,400)27.44 (5,600)23.31 
Outstanding at end of period1,066,784 $20.19 929,205 $21.83 978,188 $17.49 
Vested501,810 $12.94 497,128 $13.05 414,949 $11.43 
Schedule of Share-based Payment Award, Equity Instruments Other Than Options, Valuation Assumptions The market condition awards were valued using a Monte Carlo simulation technique based on volatility over three years for the awards granted in 2023, 2022 and 2021 using daily stock prices and using the following variables:
202320222021
Risk-free interest rate3.7%2.5%0.3%
Volatility37.1%38.3%39.7%