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Equity - Changes in Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Balance at beginning of period (in shares)     55,598,000       55,598,000  
Balance at beginning of period $ 1,393,967 $ 1,302,988 $ 1,322,394 $ 1,196,243 $ 1,158,815 $ 1,171,917 $ 1,322,394 $ 1,171,917
Net income (loss) 34,325 9,447 (22,334) 55,683 19,215 894 $ 21,438 75,792
Issuance of common stock 1,796 96,499 18,926 29,038 32,124 1,107    
Repurchase of common stock (90) (108) (1,542) (105) (111) (1,674)    
Dividends paid on common stock (15,003) (14,571) (14,456) (13,590) (13,452) (13,429)    
Investment in business with noncontrolling interest $ 0 0 0 0 0 0    
Distribution to noncontrolling interest   (288)     (348)      
Balance at end of period (in shares) 57,711,000           57,711,000  
Balance at end of period $ 1,414,995 $ 1,393,967 $ 1,302,988 $ 1,267,269 $ 1,196,243 $ 1,158,815 $ 1,414,995 $ 1,267,269
Dividends paid on common stock (in dollars per share) $ 0.2600 $ 0.2600 $ 0.2600 $ 0.2500 $ 0.2500 $ 0.2500    
Common Stock                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Balance at beginning of period (in shares) 57,702,000 55,991,000 55,598,000 54,356,000 53,773,000 53,716,000 55,598,000 53,716,000
Balance at beginning of period $ 577 $ 560 $ 556 $ 544 $ 538 $ 537 $ 556 $ 537
Issuance of common stock (in shares) 11,000 1,713,000 420,000 470,000 585,000 85,000    
Issuance of common stock   $ 17 $ 4 $ 4 $ 6 $ 1    
Repurchase of common stock (in shares) (2,000) (2,000) (27,000) (2,000) (2,000) (28,000)    
Balance at end of period (in shares) 57,711,000 57,702,000 55,991,000 54,824,000 54,356,000 53,773,000 57,711,000 54,824,000
Balance at end of period $ 577 $ 577 $ 560 $ 548 $ 544 $ 538 $ 577 $ 548
Additional Paid-in Capital                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Balance at beginning of period 873,923 777,605 760,336 682,353 650,499 651,121 760,336 651,121
Issuance of common stock 1,796 96,482 18,922 29,034 32,118 1,106    
Repurchase of common stock (90) (108) (1,542) (105) (111) (1,674)    
Investment in business with noncontrolling interest 11 (56) (111) (278) (153) (54)    
Balance at end of period 875,640 873,923 777,605 711,004 682,353 650,499 875,640 711,004
Retained Earnings                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Balance at beginning of period 515,016 520,031 556,698 508,562 502,530 514,873 556,698 514,873
Net income (loss) 34,438 9,556 (22,211) 55,872 19,484 1,086    
Dividends paid on common stock (15,003) (14,571) (14,456) (13,590) (13,452) (13,429)    
Balance at end of period 534,451 515,016 520,031 550,844 508,562 502,530 534,451 550,844
Noncontrolling Interests                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Balance at beginning of period 4,451 4,792 4,804 4,784 5,248 5,386 4,804 5,386
Net income (loss) (113) (109) (123) (189) (269) (192)    
Investment in business with noncontrolling interest (11) 56 111 278 153 54    
Distribution to noncontrolling interest   (288)     (348)      
Balance at end of period $ 4,327 $ 4,451 $ 4,792 $ 4,873 $ 4,784 $ 5,248 $ 4,327 $ 4,873