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Shareholders' Equity (Tables)
12 Months Ended
Dec. 31, 2022
Stockholders' Equity Note [Abstract]  
Rollforward of Common Stock Issued and Outstanding The following table is a summary of changes in common shares issued and outstanding:
Year ended December 31,202220212020
(thousands of shares)   
Beginning balance44,445 50,811 44,148 
Issuance of shares
— — 6,777 
Repurchase of shares
(1,051)(6,579)(406)
Exercise of options and issuance of restricted stock awards
324 213 292 
Ending balance43,718 44,445 50,811