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Condensed Consolidated Statements of Stockholders’ Equity (Parenthetical) - $ / shares | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Statement of Stockholders' Equity [Abstract] |  |
Issuance of common stock through stock awards (in shares) | 137,350 | 161,050
Exercise of stock options (in shares) | 47,000 | 10,595
Issuance of common stock through employee purchase plan (in shares) | 40,322 | 45,232
Purchase of treasury stock (in shares) | 49,623 | 56,808
Cash dividends declared per share of common stock (in dollars per share) | $ 1.30 | $ 1.25
Preferred stock dividend shares (in dollars per share) | $ 15.95 | $ 15.95

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