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Shareholders' Equity - Additional information (Details) - USD ($)
$ in Millions
 9 Months Ended
Sep. 30, 2023
Sep. 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     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 $ 22.6 $ 155.0