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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Sep. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized 80,000,000 80,000,000
Common stock, shares issued 26,205,777 26,020,494
Common stock, shares outstanding 17,995,155 16,652,241
Treasury stock, shares 9,553,536 8,025,339