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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Statement of Stockholders' Equity [Abstract]    
Net issuance of shares of common stock from exercise of stock options (in shares) 76,542 66,451
Common stock shares repurchased (in shares) 1,025,934 590,000
Issuance of restricted common stock (in shares) 219,750 258,000
Common stock, cash dividends per share (in dollars per share) $ 0.18 $ 0.18