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CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Statement of Stockholders' Equity [Abstract]        
Cash dividends (in dollars per share) $ 0.29 $ 0.28 $ 0.87 $ 0.84
Issuance of common shares pursuant to stock-based compensation plan, net (in shares) 1,685 3,487 82,906 80,396
Purchase of common shares (in shares) 73,272   136,577 130,374