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Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - $ / shares
Jun. 30, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 120,000,000 120,000,000
Common stock, shares issued (in shares) 43,958,610 43,726,181
Common stock, shares outstanding (in shares) 41,390,064 41,477,093
Treasury stock, shares (in shares) 2,568,546 2,249,088