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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS’ EQUITY (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Statement of Stockholders' Equity [Abstract] |  |  |
Purchase of Company's common shares at cost (in shares) | 164,272 | 288,350 | 246,012
Cash dividends declared, per share (in usd per share) | $ 1.00 | $ 0.93 | $ 0.91
Common stock issued under incentive plans (in shares) | 31,419 | 25,902 | 28,222

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