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Unaudited Condensed Consolidated Statements of Shareholders' Equity (Parenthetical) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Unaudited Condensed Consolidated Statements of Shareholders' Equity [Abstract]        
Cumulative effect of change in accounting principle, tax     $ 178  
Cash dividends declared (in dollars per share) $ 0.21 $ 0.12 $ 0.53 $ 0.36