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Stockholders' Equity, Stock-Based Compensation and Accumulated Other Comprehensive Income (Loss) - Changes in shares of Common Stock (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss)      
Common stock issued (in shares) 7,284,151 7,024,000 6,769,000
Treasury stock held (in shares) (516,000) (407,000) (289,000)
Common stock outstanding (in shares) 6,768,000 6,617,000 6,480,000
Stock dividends (in shares) 271,000 260,000 255,000
Repurchase of common stock (in shares)   (109,000) (118,000)
Common stock issued (in shares) 7,554,893 7,284,151 7,024,000
Treasury stock held (in shares) (515,570) (516,000) (407,000)
Common stock outstanding (in shares) 7,039,000 6,768,000 6,617,000