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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Consolidated Statements of Stockholders' Equity [Abstract] |  |  |
Issuance of stock and related tax withholdings for vested restricted stock units (in shares) | 201,039 | 149,722 | 212,392
Conversion of Class B shares(in shares) |  |  | 261
Dividends declared (in dollars per share) | $ 0.4 | $ 0.385 | $ 0.38
Treasury stock acquired (in shares) | 4,240,573 |  |

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