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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Shares outstanding     17,739,677  
Issuance of shares for Employee Stock Purchase Plan, shares 4,614 10,108 15,759 17,641
Shares outstanding 17,666,490   17,666,490  
Common Stock [Member]        
Shares outstanding 17,761,538 18,014,757 17,739,677 17,813,451
Restricted stock units issued, shares 605 77,986 147,679 430,620
Restricted stock units/awards repurchased on vesting to pay taxes, shares (267) (31,996) (36,625) (108,143)
Cash dividends declared on common stock, per share $ 0.05 $ 0.05 $ 0.1 $ 0.1
Share repurchase, share (100,000) (184,000) (200,000) (267,014)
Common stock options exercised, shares   1,100   1,400
Common stock options exercised, used to exercise, shares   60   60
Common stock options exercised, net of shares used to exercise, shares   1,040   1,340
Issuance of shares for Employee Stock Purchase Plan, shares 4,614 10,108 15,759 17,641
Shares outstanding 17,666,490 17,887,895 17,666,490 17,887,895