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Condensed Consolidated Statements of Shareholders' Equity (Unaudited) (Parentheticals) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Cash dividends declared, per share (in dollars per share) | $ 0.14 | $ 0.12
Cash flow hedges, tax |  | $ 1
Pensions, tax | $ 14 | 110
Change in currency translation adjustment, tax | $ 0 | $ 0

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