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Summary of Significant Accounting Policies - Insurance Premium Revenue Recognition (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Accounting Policies [Abstract]    
Earned premiums from mortgage guaranty insurance monthly policies as a percentage of total earned premiums 94.00%  
Threshold coverage period for single premium primary mortgage insurance policies (more than) 1 year  
Unearned single premium recognized as earned upon notice of policy cancellation due to repayment of insured loan by borrower $ 20.8 $ 63.8