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Consolidated Balance Sheets (Parentheticals) - $ / shares
Dec. 31, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 73,900,160 73,288,976
Treasury stock, shares (in shares) 12,521,834 12,283,817