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Shareholders' Equity - Additional information (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | May 03, 2022 | May 03, 2019
Stockholders' Equity Note [Abstract] |  |  |  |  |  |
Number of shares of common stock authorized for buyback (in shares) |  |  |  |  | 7,890,581 |
Remaining number of shares authorized to be repurchased (in shares) | 11,284,882 |  | 11,284,882 |  |  | 4,109,419
Increased number of shares of common stock authorized for buyback |  |  |  |  | 12,000,000 |
Treasury stock, shares, acquired (in shares) |  |  | 265,795 | 1,508,467 |  |
Treasury stock, value, acquired, cost method | $ 7.4 | $ 70.0 | $ 22.6 | $ 155.0 |  |

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