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Consolidated Statements of Stockholders' Equity (Unaudited) (Parenthetical) - $ / shares
shares in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Statement of Stockholders' Equity [Abstract]    
Dividends paid, per share $ 0.21 $ 0.20
Restricted stock award, net of forfeitures 350  
Exercise of stock options, shares 2,693