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Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Consolidated Statements of Shareholders' Equity      
Dividend paid per share   $ 0.25 $ 0.22
Exercise of stock options, shares surrendered   423  
Restricted stock vesting, shares surrendered 54 141 87