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Consolidated Balance Sheet (Parenthetical) - shares
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Treasury Shares [Line Items]        
Ordinary shares outstanding (in shares) 37,601,452 34,165,963    
Treasury Stock        
Treasury Shares [Line Items]        
Ordinary shares outstanding (in shares) 53,685 65,980 83,154 131,414