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Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Statement of Stockholders' Equity [Abstract] |  |  |
Cash dividends per share (in usd per share) | $ 0.80 | $ 0.76 | $ 0.74
Common shares acquired (in shares) | 24,643 | 28,925 | 1,121
Treasury stock acquired (in shares) | 34,380 | 482,712 | 19,388
Compensation expense | $ 2,356 | $ 2,154 | $ 1,949

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