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Shareholders' Equity (Tables)
12 Months Ended
Dec. 31, 2023
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 31,202320222021
(thousands of shares)   
Beginning balance43,718 44,445 50,811 
Issuance of shares
8,568 — — 
Repurchase of shares
— (1,051)(6,579)
Exercise of options and issuance of restricted stock awards
408 324 213 
Ending balance52,694 43,718 44,445