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Equity Compensation Plans and Share-Based Compensation - Warranty and Options Activity (Details) - Stock Options and Warrants - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding [Roll Forward]      
Underlying Shares - Outstanding at beginning of year 0 10 70
Underlying Shares - Exercised 0 (10) (60)
Underlying Shares - Outstanding at end of year 0 0 10
Underlying Shares - Exercisable at end of year 0 0 0
Share-based Compensation Arrangement by Share-based Payment Award, Options and Warrants, Outstanding, Weighted Average Exercise Price [Roll Forward]      
Weighted-Average Exercise Price - Outstanding at beginning of year $ 0 $ 38.00 $ 38.86
Weighted-Average Exercise Price - Exercised 0 38.00 39.00
Weighted-Average Exercise Price - Outstanding at end of year 0 0 38.00
Weighted-Average Exercise Price - Exercisable at end of year $ 0 $ 0 $ 0