Consolidated Statements of Stockholders' Equity (Parentheticals) - $ / shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Statement of Stockholders' Equity [Abstract]
Stock issued for employee stock purchase plan, shares (in shares)	42,510	59,475
Stock issued for compensation plans, shares (in shares)	193,028	244,361
Stock repurchases (in shares)	0	513,725
Cash dividends per share (in dollars per share)	$ 0.20	$ 0.19