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Consolidated Statements of Changes in Shareholders' Equity (Unaudited) (Parenthetical) - $ / shares
3 Months Ended
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