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Shareholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Stockholders' Equity Note [Abstract] |
Rollforward of Common Stock Issued and Outstanding | The following table is a summary of changes in common shares issued and outstanding:
| Year ended December 31, | 2023 |  | 2022 |  | 2021 |
| (thousands of shares) |  |  |  |  |  |
| Beginning balance | 43,718 |  |  | 44,445 |  |  | 50,811 |  |
| Issuance of shares | 8,568 |  |  | — |  |  | — |  |
| Repurchase of shares | — |  |  | (1,051) |  |  | (6,579) |  |
| Exercise of options and issuance of restricted stock awards | 408 |  |  | 324 |  |  | 213 |  |
| Ending balance | 52,694 |  |  | 43,718 |  |  | 44,445 |  |

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