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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Consolidated Statements of Stockholders' Equity [Abstract] |  |  |
Issuance of stock and related tax withholdings for vested restricted stock units (in shares) | 276,130 | 201,039 | 149,722
Dividends declared (in dollars per share) | $ 0.4 | $ 0.4 | $ 0.385
Repurchase of common stock held in treasury (in shares) | 3,295,308 | 4,240,573 |

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