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Equity, Other Comprehensive Income and Earnings Per Share - Equity and Noncontrolling Interest (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Jan. 01, 2024	Dec. 01, 2022
Shareholders' Equity
Stock repurchase program, authorized amount				$ 10,000
Shares repurchased (in shares)			145,185
Cost of shares repurchased			$ 7,310
Number of shares withheld from employees to satisfy tax withholding obligations	12,039	7,696	19,554
Share Repurchase Program 2021
Shareholders' Equity
Shares repurchased (in shares)		89,373
Cost of shares repurchased		$ 4,600
Share Repurchase Program 2022
Shareholders' Equity
Stock repurchase program, authorized amount					$ 10,000
Aggregate common stock repurchased (in shares)	135,327
Aggregate cost of common stock repurchased	$ 7,510
Shares repurchased (in shares)	127,364
Cost of shares repurchased	$ 7,050

Number of shares that have been repurchased during the period and have not been retired and are not held in treasury. Some state laws may govern the circumstances under which an entity may acquire its own stock and prescribe the accounting treatment therefore. This element is used when state law does not recognize treasury stock.

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- Definition

Equity impact of the value of stock that has been repurchased during the period and has not been retired and is not held in treasury. Some state laws may mandate the circumstances under which an entity may acquire its own stock and prescribe the accounting treatment therefore. This element is used when state law does not recognize treasury stock.

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