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Consolidated Statements of Stockholders' Equity (Parentheticals) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]    
Issuance of treasury stock (in shares) 1,557,054 100
Issuance of treasury stock, stock option exercise (in shares)   63,844
Repurchase of common stock through stock repurchase program (in shares)   4,892