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Condensed Consolidated Balance Sheets (Parenthetical) - shares
Sep. 30, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Common stock, shares authorized (in shares) 65,035,579 65,035,579
Common stock, shares issued (in shares) 60,992,259 60,992,259
Common stock, shares outstanding (in shares) 58,208,136 60,571,556
Treasury stock, cost (in shares) 2,784,123 420,703