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Consolidated Statements of Changes in Stockholders' Equity (Unaudited) (Parentheticals) - $ / shares
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Restricted Stock Units (RSUs) [Member]        
Net shares issued in satisfaction of units earned, shares (in shares) 3,938 3,938 37,542 36,006
Performance Shares [Member]        
Net shares issued in satisfaction of units earned, shares (in shares)     24,070 52,353
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) $ 0.18 $ 0.17 $ 0.53 $ 0.51
Restricted stock grants, net of forfeitures, shares (in shares) 790 2,477 67,672 84,057
Exercise of options, shares (in shares)   646   7,388
Repurchase of treasury stock, shares (in shares)   316,789 282,370 801,952
Stock grants, shares (in shares)     1,533 995