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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Shares outstanding | 17,813,451 |  |
Common stock options exercised, shares | 2,600 |  |
Issuance of shares for Employee Stock Purchase Plan, shares | 33,748 | 25,023 | 26,693
Share repurchase, share | (455,341) | (930,977) |
Shares outstanding | 17,739,677 | 17,813,451 |
Common Stock [Member] |  |  |
Shares outstanding | 17,813,451 | 18,393,888 | 18,974,703
Restricted stock units issued, shares | 434,000 | 347,623 | 301,626
Restricted stock units/awards repurchased on vesting to pay taxes, shares | (107,918) | (80,400) | (76,187)
Cash dividends declared on common stock, per share | $ 0.20 | $ 0.20 | $ 0.20
Common stock options exercised, shares | 2,600 | 23,640 | 16,640
Common stock options exercised, used to exercise, shares | 60 | 1,115 | 258
Common stock options exercised, net of shares used to exercise, shares | 2,540 | 22,525 | 16,382
Issuance of shares for Employee Stock Purchase Plan, shares | 33,748 | 25,023 | 26,693
Share repurchase, share | (455,341) | (930,977) | (894,744)
Issuance of common stock for acquisition, shares | 19,197 | 14,220 | 23,981
Exercise of warrants, shares |  | 49,860 | 60,000
Exercise of warrants, used to exercise, shares |  | 28,311 | 38,566
Exercise of warrants, net of shares used to exercise, shares |  | 21,549 | 21,434
Shares outstanding | 17,739,677 | 17,813,451 | 18,393,888

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