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Consolidated Statements of Shareholders' Equity (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Consolidated Statements of Shareholders' Equity [Abstract] |  |  |
Cumulative effect of change in accounting principle, tax | $ 178 |  |
Cash dividends declared (in dollars per share) | $ 0.74 | $ 0.52 | $ 0.45

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