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Consolidated Statements of Changes in Shareholders' Equity (Unaudited) (Parenthetical) - $ / shares | 3 Months Ended
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Mar. 31, 2024 | Mar. 31, 2023
Statement of Stockholders' Equity [Abstract] |  |
Cash dividends declared (in dollars per share) | $ 0.72 | $ 0.65
Exercise of stock options (in shares) | 1,309 |
Purchase of treasury shares (in shares) | 36,438 | 218,249

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