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Consolidated Statements of Shareholders' Equity (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
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