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Consolidated Statements of Shareholders' Equity (Parentheticals) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Cash dividends declared, per share (in dollars per share) | $ 0.56 | $ 0.54
Cash flow hedges, tax |  | $ 6
Pensions, tax | $ 3 | 1,281
Change in currency translation adjustment, tax | $ 0 | $ 0

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