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Consolidated Statements of Stockholders' Equity (Parenthetical) - shares shares in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Statement of Stockholders' Equity [Abstract] |  |  |
Restricted share grants, net settled shares (in shares) | 91 | 116 | 94

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