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Consolidated Balance Sheets (Parentheticals) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Common stock, par value (in usd per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 120,000,000 120,000,000
Common stock, shares issued (in shares) 45,032,537 43,726,181
Common stock, shares outstanding (in shares) 41,249,658 41,477,093
Treasury stock, shares (in shares) 3,782,879 2,249,088