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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Shares outstanding | 18,393,888 |  |
Common stock options exercised, shares | 23,640 |  |
Issuance of shares for Employee Stock Purchase Plan, shares | 25,023 | 26,693 | 56,849
Share repurchase, share | (930,977) | (894,744) |
Shares outstanding | 17,813,451 | 18,393,888 |
Common Stock [Member] |  |  |
Shares outstanding | 18,393,888 | 18,974,703 | 18,926,810
Restricted stock units issued, shares | 347,623 | 301,626 | 170,575
Restricted stock units/awards repurchased on vesting to pay taxes, shares | (80,400) | (76,187) | (43,935)
Cash dividends declared on common stock, per share | $ 0.20 | $ 0.20 | $ 0.20
Common stock options exercised, shares | 23,640 | 16,640 | 19,860
Common stock options exercised, used to exercise, shares | 1,115 | 258 | 2,149
Common stock options exercised, net of shares used to exercise, shares | 22,525 | 16,382 | 17,711
Issuance of shares for Employee Stock Purchase Plan, shares | 25,023 | 26,693 | 56,849
Share repurchase, share | (930,977) | (894,744) | (220,222)
Issuance of common stock for acquisition, shares | 14,220 | 23,981 | 60,384
Exercise of warrants, shares | 49,860 | 60,000 | 20,000
Exercise of warrants, used to exercise, shares | 28,311 | 38,566 | 13,469
Exercise of warrants, net of shares used to exercise, shares | 21,549 | 21,434 | 6,531
Shares outstanding | 17,813,451 | 18,393,888 | 18,974,703

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