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Shareholders' Equity (Details) - USD ($) | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2015
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |
Cash dividends declared per share (in dollars per share) | $ 0.2 | $ 0.2 | $ 0.60 | $ 0.60 |
Repurchase of shares (in shares) | 0 |  | 0 |  |
Remaining authorized repurchase capacity | $ 96,100,000 |  | $ 96,100,000 |  |
Share repurchase program 2014 |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |
Authorized amount to be repurchased |  |  |  |  | $ 500,000,000

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