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Consolidated Statements of Changes in Stockholder's Equity (Unaudited) (Parenthetical) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Statement of Stockholders' Equity [Abstract]        
Issuance of common stock (in shares)     226,574 51,746
Purchase of treasury stock (in shares) 518,539 874,080 4,104,073 3,420,747
Exercise of stock options (in shares) 3,265 87,025 44,117 155,296
Restricted stock forfeitures (in shares) 15,509 31,796 27,863 68,548
Repurchased shares for taxes (in shares) 18,849 198,794 25,917 203,973