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Borrowings - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Debt Instrument [Line Items]
Outstanding Balance	$ 200,000	$ 200,000
Interest Expense, Debt	9,300	10,300	$ 10,300
Revolving credit agreement
Debt Instrument [Line Items]
Outstanding Balance	$ 0	0
Commitment fee percentage	0.15%
Debt Issuance Costs, Gross	$ 1,100
Line of Credit Facility, Maximum Borrowing Capacity	$ 100,000
Revolving credit agreement \| Minimum
Debt Instrument [Line Items]
Commitment fee percentage	0.15%
Revolving credit agreement \| Maximum
Debt Instrument [Line Items]
Commitment fee percentage	0.45%
Revolving credit agreement \| Federal funds effective rate
Debt Instrument [Line Items]
Spread on variable rate	0.50%
Revolving credit agreement \| Margin based on leverage ratio \| Minimum
Debt Instrument [Line Items]
Spread on variable rate	0.25%
Revolving credit agreement \| Margin based on leverage ratio \| Maximum
Debt Instrument [Line Items]
Spread on variable rate	1.25%
Revolving credit agreement \| adjusted Term SOFR plus applicable margin \| Minimum
Debt Instrument [Line Items]
Spread on variable rate	1.25%
Revolving credit agreement \| adjusted Term SOFR plus applicable margin \| Maximum
Debt Instrument [Line Items]
Spread on variable rate	2.25%
Revolving credit agreement \| adjusted Term SOFR for a one-month interest period
Debt Instrument [Line Items]
Spread on variable rate	1.00%
Level 2 \| Recurring
Debt Instrument [Line Items]
Borrowings	$ 179,000
Series D \| Senior notes
Debt Instrument [Line Items]
Interest Rate Per Annum	4.29%
Outstanding Balance	$ 60,000	60,000
Series F Senior Notes \| Senior notes
Debt Instrument [Line Items]
Interest Rate Per Annum	3.10%
Outstanding Balance	$ 90,000	$ 0
Debt Issuance Costs, Gross	$ 600