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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Shares outstanding 17,739,677  
Issuance of shares for Employee Stock Purchase Plan, shares 11,145 7,533
Shares outstanding 17,761,538  
Common Stock [Member]    
Shares outstanding 17,739,677 17,813,451
Restricted stock units issued, shares 147,074 352,634
Restricted stock units/awards repurchased on vesting to pay taxes, shares (36,358) (76,147)
Cash dividends declared on common stock, per share $ 0.05 $ 0.05
Share repurchase, share (100,000) (83,014)
Common stock options exercised, shares   300
Issuance of shares for Employee Stock Purchase Plan, shares 11,145 7,533
Shares outstanding 17,761,538 18,014,757