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Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Consolidated Statements of Shareholders' Equity        
Cash dividends declared, per share $ 0.16 $ 0.14 $ 0.32 $ 0.28