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Shareholders' Equity - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Feb. 21, 2024 | Mar. 31, 2022 | Aug. 12, 2021
Shareholders' Equity [Line Items] |  |  |  |  |  |
Authorized and unissued common shares reserved for issuance (in shares) | 600,000,000 | 600,000,000 |  |  |  |
Employee stock purchase plan, discount rate | 5.00% |  |  |  |  |
Common shares purchase price as percentage of fair market value | 95.00% |  |  |  |  |
Employee stock purchase maximum purchase at fair market value amount | $ 25 |  |  |  |  |
Common stock issued | 1,076 | $ 809 | $ 583 |  |  |
Common stock repurchased | $ 44,308 | $ 71,182 | $ 3,731 |  |  |
Share Repurchase Program |  |  |  |  |  |
Shareholders' Equity [Line Items] |  |  |  |  |  |
Number of shares available for repurchase (up to) (in shares) |  |  |  |  | 200,000,000 |
Number of shares repurchased (in shares) | 1,800,000 |  |  |  |  |
Common stock repurchased | $ 29,500 |  |  |  |  |
Share Repurchase Program | Subsequent Event |  |  |  |  |  |
Shareholders' Equity [Line Items] |  |  |  |  |  |
Number of shares available for repurchase (up to) (in shares) |  |  |  | 200,000,000 |  |
Share Repurchase Plan Expiring February 28, 2025 | Subsequent Event |  |  |  |  |  |
Shareholders' Equity [Line Items] |  |  |  |  |  |
Number of shares available for repurchase (up to) (in shares) |  |  |  | 200,000,000 |  |
Dividend Reinvestment and Stock Purchase Plan |  |  |  |  |  |
Shareholders' Equity [Line Items] |  |  |  |  |  |
Authorized and unissued common shares reserved for issuance (in shares) | 3,300,000 |  |  |  |  | 3,300,000
Employee Stock Purchase Plan |  |  |  |  |  |
Shareholders' Equity [Line Items] |  |  |  |  |  |
Shares issued related to dividend reinvestment and stock purchase plan (in shares) | 75,000 | 52,000 |  |  |  |
Common stock issued | $ 1,100 | $ 800 |  |  |  |

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