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Consolidated Statements of Shareholders' Equity (Parenthetical)
12 Months Ended
Dec. 31, 2021
shares
Statement of Stockholders' Equity [Abstract]  
Issuance of common stock from the treasury (in shares) 191,673
Shares issued in connection at-the-market offering (in shares) 785,103
Stock options exercised, net (in shares) 13,174