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CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Statement of Stockholders' Equity [Abstract]        
Cash dividends (in dollars per share) $ 0.29 $ 0.28 $ 0.58 $ 0.56
Issuance of common shares pursuant to stock-based compensation plan, net (in shares) 19,687 18,637 81,221 76,909
Purchase of common shares (in shares) 63,305 5,500 63,305 130,374