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Shareholders' Equity (Details) - USD ($) | 12 Months Ended | 93 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2022 | Mar. 31, 2016 | Dec. 31, 2011 | Dec. 31, 2008
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock, shares authorized (shares) | 195,000,000 | 195,000,000 |  | 195,000,000 |  |  |
Common stock, par value (in dollars per share) | $ 0.01 | $ 0.01 |  | $ 0.01 |  |  |
Common stock, shares issued (shares) | 99,510,499 | 98,418,132 |  | 99,510,499 |  |  |
Common stock, shares outstanding (shares) | 92,323,978 | 91,231,611 |  | 92,323,978 |  |  |
Preferred stock, shares authorized (shares) | 5,000,000 | 5,000,000 |  | 5,000,000 |  |  |
Preferred stock, shares issued (shares) |  |  |  |  |  |  | 160,000
Shares, outstanding (in shares) | 92,323,978 | 91,231,611 | 90,055,797 | 92,323,978 |  |  |
Conversion of convertible preferred stock (shares) | 100 |  |  | 100 |  |  |
Liquidation preference (in dollars per share) | $ 0.01 |  |  | $ 0.01 |  |  |
Authorized repurchase amount | $ 130,000,000 |  |  | $ 130,000,000 |  | $ 60,000,000 |
Additional repurchase amount |  |  |  |  | $ 70,000,000 |  |
Repurchase of common stock (shares) | 7,186,521 |  |  | 0 |  |  |
Treasury stock acquired, aggregate purchase price | $ 86,300,000 |  |  |  |  |  |
Remaining authorized repurchase amount | $ 43,700,000 |  |  | $ 43,700,000 |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Beginning balance (shares) | 91,231,611 | 90,055,797 |  |  |  |  |
Ending balance (shares) | 92,323,978 | 91,231,611 | 90,055,797 | 92,323,978 |  |  |
Series A Convertible Preferred Stock |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ 0.01 | $ 0.01 |  | $ 0.01 |  |  |
Shares, outstanding (in shares) | 53,854 | 58,542 | 63,589 | 53,854 |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Beginning balance (shares) | 58,542 | 63,589 | 67,323 |  |  |  |
Conversion of convertible preferred stock (shares) | 4,688 | 5,047 | 3,734 |  |  |  |
Ending balance (shares) | 53,854 | 58,542 | 63,589 | 53,854 |  |  |
Treasury |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Shares, outstanding (in shares) | 7,186,521 | 7,186,521 | 7,186,521 | 7,186,521 |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Beginning balance (shares) | 7,186,521 | 7,186,521 | 7,186,521 |  |  |  |
Ending balance (shares) | 7,186,521 | 7,186,521 | 7,186,521 | 7,186,521 |  |  |
Common stock |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Shares, outstanding (in shares) |  |  |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |
Beginning balance (shares) |  |  | 89,185,661 |  |  |  |
Conversion of convertible preferred stock (shares) | 468,785 | 504,596 | 373,416 |  |  |  |
Issuance for share-based compensation plans (shares) | 623,582 | 671,218 | 496,720 |  |  |  |

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