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Stock Repurchase Program (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Apr. 27, 2022
Stock repurchase program |  |  |  |
Shares authorized under repurchase program | 4,020,021 |  |  | 4,120,021
Cost of shares repurchased under other arrangements | $ 9,316 | $ 9,126 | $ 1,053 |
2022 Stock Repurchase Program |  |  |  |
Stock repurchase program |  |  |  |
Shares authorized under repurchase program |  |  |  | 3,750,000
Number of shares repurchased | 100,000 | 0 |  |
Average price per share | $ 67.48 |  |  |
2021 Stock Repurchase Plan |  |  |  |
Stock repurchase program |  |  |  |
Remaining authorized shares available for repurchase |  |  |  | 370,021
Number of shares repurchased |  | 1,312,038 |  |
Average price per share |  | $ 83.99 |  |
Other stock repurchase arrangements |  |  |  |
Stock repurchase program |  |  |  |
Number of shares repurchased | 131,827 | 112,389 | 13,412 |
Cost of shares repurchased under other arrangements | $ 9,300 | $ 9,100 | $ 1,100 |

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