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Condensed Consolidated Statements of Equity (Parenthetical) - shares | 3 Months Ended
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Mar. 31, 2024 | Mar. 31, 2023
Statement of Stockholders' Equity [Abstract] |  |
Issuance of restricted common stock (shares) | 145,352 | 152,905
Issuance of common stock associated with performance stock units net of shares withheld for tax (shares) | 164,837 | 133,221
Cancellation of restricted common stock (shares) | 12,484 |
Repurchases of common stock (shares) | 239,411 |

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