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CONDENSED CONSOLIDATED STATEMENTS OF EARNINGS - UNAUDITED - USD ($) shares in Thousands, $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Income Statement [Abstract] |  |  |  |
Net sales | $ 145,182 | $ 144,982 | $ 291,176 | $ 292,677
Cost of goods sold | 94,440 | 93,134 | 188,782 | 186,489
Gross margin | 50,742 | 51,848 | 102,394 | 106,188
Selling, general and administrative expenses | 23,694 | 22,238 | 45,673 | 44,026
Research and development expenses | 6,721 | 6,294 | 13,307 | 12,488
Restructuring charges | 1,895 | 630 | 2,807 | 942
Operating earnings | 18,432 | 22,686 | 40,607 | 48,732
Other income (expense): |  |  |  |
Interest expense | (818) | (602) | (1,512) | (1,148)
Interest income | 1,072 | 263 | 2,135 | 443
Other income, net | (2,606) | (5,425) | (2,441) | (5,359)
Total other expense, net | (2,352) | (5,764) | (1,818) | (6,064)
Earnings before income taxes | 16,080 | 16,922 | 38,789 | 42,668
Income tax expense | 3,183 | 4,324 | 7,548 | 9,831
Net earnings | $ 12,897 | $ 12,598 | $ 31,241 | $ 32,837
Earnings per share: |  |  |  |
Basic | $ 0.41 | $ 0.39 | $ 0.99 | $ 1.02
Diluted | $ 0.41 | $ 0.39 | $ 0.98 | $ 1.02
Basic weighted – average common shares outstanding: | 31,488 | 32,039 | 31,560 | 32,096
Effect of dilutive securities | 197 | 204 | 224 | 218
Diluted weighted – average common shares outstanding: | 31,685 | 32,243 | 31,784 | 32,314
Cash dividends declared per share | $ 0.04 | $ 0.04 | $ 0.08 | $ 0.08

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