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Shareholders' Equity Common Stock Repurchase Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands, shares in Millions
1 Months Ended 3 Months Ended 12 Months Ended
Feb. 28, 2021
Oct. 31, 2019
Mar. 31, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Equity, Class of Treasury Stock [Line Items]            
Common stock repurchase amount         $ 43,909 $ 39,748
Common Stock | 2023 Share Repurchase Program            
Equity, Class of Treasury Stock [Line Items]            
Treasury stock, value       $ 100,000    
Percent of common shares outstanding, expected to be delivered       3.60%    
Common Stock | February 2021 Stock Repurchase Program            
Equity, Class of Treasury Stock [Line Items]            
Treasury stock, value $ 75,000          
Percent of common shares outstanding, expected to be delivered 3.20%          
Acquisition of treasury stock (in shares)       2.8    
Common stock repurchase amount       $ 43,900    
Average cost per share of treasury stock acquired (usd per share)       $ 15.65    
Common Stock | October 2019 Stock Repurchase Program            
Equity, Class of Treasury Stock [Line Items]            
Treasury stock, value $ 100,000          
Percent of common shares outstanding, expected to be delivered   3.90%        
Acquisition of treasury stock (in shares)     2.9      
Common stock repurchase amount     $ 39,700      
Average cost per share of treasury stock acquired (usd per share)     $ 13.65