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Equity, Other Comprehensive Income and Earnings Per Share - Equity and Noncontrolling Interest (Details) - USD ($)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Jan. 01, 2024
Shareholders' Equity      
Cost of shares repurchased   $ 2,060,000.00  
Number of shares withheld from employees to satisfy tax withholding obligations 9,151 6,257  
Share Repurchase Program 2024      
Shareholders' Equity      
Stock repurchase program, authorized amount     $ 10,000,000.00
Cost of shares repurchased $ 516,000    
Remaining shares amount available for repurchases $ 9,480,000