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Consolidated Statements of Shareholders' Equity (Unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Statement of Stockholders' Equity [Abstract]                
Cash dividends declared per share of common stock (in USD per share) $ 0.2475 $ 0.2475 $ 0.2475 $ 0.2375 $ 0.2375 $ 0.2375 $ 0.7425 $ 0.7125