Condensed Consolidated Statements of Shareholders' Equity (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]
Common stock, dividends declared (in dollars per share)	$ 0.23	$ 0.22	$ 0.69	$ 0.66
Repurchases of common stock (in shares)	88,401	0	288,401	181,586
Stock issued during period, new issues (in shares)	0	17,900	23,000	39,532
Share-based payment arrangement, shares issued, after forfeiture (in shares)	0	0	86,763	62,856
Share-based payment arrangement, shares withheld for tax withholding obligation (in shares)	1,443	1,666	31,483	27,884