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Consolidated Statements of Shareholders' Investment (Parentheticals) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Class Of Stock [Line Items] |  |  |
Net income (loss) attributable to redeemable noncontrolling interest |  |  | $ 2,258
Class A Non-Voting |  |  |
Class Of Stock [Line Items] |  |  |
Cash dividends paid (in dollars per share) | $ 0.24 | $ 0.24 | $ 0.19
Class B Voting |  |  |
Class Of Stock [Line Items] |  |  |
Cash dividends paid (in dollars per share) | $ 0.24 | $ 0.24 | $ 0.17

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