Boldness
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Boldness is an opposite of shyness. A bold person may be willing to risk shame or rejection in social situations, and willing to bend rules of etiquette or politeness.
An excessively bold person could aggressively ask for money, or persistently push a person to fulfill some request, and so on. Excessive boldness may thus be regarded as impertinence or arrogance.
Outside a social context, "boldness" can also refer to a willingness to get things done, even despite risks, and is therefore broadly synonymous with bravery.de:Kühnheit