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Borrowings - Long-term Debt (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Senior Notes    
Debt Instrument [Line Items]    
Borrowings, carrying amount $ 123,840,000 $ 123,580,000
Senior Subordinated Notes    
Debt Instrument [Line Items]    
Borrowings, carrying amount 182,230,000 181,952,000
Maturing August 2031 | Senior Notes    
Debt Instrument [Line Items]    
Borrowings, carrying amount $ 98,928,000 98,788,000
Face amount, percentage 2.875%  
Issue of subordinated term note $ 100,000,000  
Redemption price, percent of principal balance 100.00%  
Maturing September 2024 | Senior Notes    
Debt Instrument [Line Items]    
Borrowings, carrying amount $ 24,912,000 24,792,000
Face amount, percentage 4.50%  
Issue of subordinated term note $ 25,000,000  
Redemption price, percent of principal balance 100.00%  
Maturing December 2034 | Senior Subordinated Notes    
Debt Instrument [Line Items]    
Borrowings, carrying amount $ 72,766,000 72,585,000
Face amount, percentage 5.375%  
Issue of subordinated term note $ 74,750,000  
Redemption price, percent of principal balance 100.00%  
Maturing June 2029 | Senior Subordinated Notes    
Debt Instrument [Line Items]    
Borrowings, carrying amount $ 109,464,000 $ 109,367,000
Face amount, percentage 6.125%  
Issue of subordinated term note $ 110,000,000  
Redemption price, percent of principal balance 100.00%  
SOFR | Maturing August 2031 | Senior Notes    
Debt Instrument [Line Items]    
Spread on variable interest rate 2.35%  
LIBOR | Maturing June 2029 | Senior Subordinated Notes    
Debt Instrument [Line Items]    
Spread on variable interest rate 3.443%