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Consolidated Statements of Stockholders' Equity (Parentheticals) - $ / shares | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Statement of Stockholders' Equity [Abstract] |  |
Stock issued for employee stock purchase plan, shares (in shares) | 42,510 | 59,475
Stock issued for compensation plans, shares (in shares) | 193,028 | 244,361
Stock repurchases (in shares) | 0 | 513,725
Cash dividends per share (in dollars per share) | $ 0.20 | $ 0.19

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