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Consolidated Statements of Shareholders' Equity (Parenthetical) - shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Statement of Stockholders' Equity [Abstract] |  |
Shares issued in connection at-the-market offering (in shares) |  | (785,103)
Issuance of common stock from the treasury (in shares) | (86,274) | (191,673)
Stock options exercised, net (in shares) | 18,098 | 13,174

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