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Consolidated Statements of Changes in Stockholders' Equity (Unaudited) (Parentheticals) - $ / shares
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Performance Shares [Member]        
Net shares issued in satisfaction of units earned, shares (in shares)     52,353 22,350
Cash dividend declared on preferred stock, per share (in dollars per share) $ 0.328125 $ 0.328125 $ 0.984375 $ 0.984375
Cash dividends declared on common stock, per share (in dollars per share) $ 0.17 $ 0.155 $ 0.51 $ 0.44
Exercise of options, shares (in shares) 646   7,388 15,086
Net shares issued in satisfaction of units earned, shares (in shares) 3,938   36,006 31,383
Restricted stock grants, shares (i (in shares) 2,477   84,057 53,169
Repurchase of stock, shares (in shares) 316,789   801,952 447,108
Stock grants, shares (in shares)     995 153