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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Statement of Stockholders' Equity [Abstract]        
Stock issued for employee stock purchase plan, shares (in shares)     53,161 42,510
Stock-based compensation plans, net (in shares) 67,078 37,536 317,318 301,166
Stock repurchases (in shares)   1,128,962   2,257,049
Dividends on common stock per share (in dollars per share) $ 0.21 $ 0.20 $ 0.63 $ 0.60