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Consolidated Balance Sheets (Parenthetical) - $ / shares | Sep. 30, 2023 | Dec. 31, 2022
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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) | 77,218,035 | 76,587,920
Treasury stock, shares (in shares) | 13,328,859 | 12,684,101

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