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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Parenthetical) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]      
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation   28 46
Exercise of stock options     22
Common stock, dividends, declared (in dollars per share) $ 1.26 $ 1.17 $ 1.08