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Shareholders' Equity and Compensation Plans - Narrative (Details) - USD ($) | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Dec. 31, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | May 31, 2022 | Apr. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Stock Repurchase Program, Number of Shares Authorized to be Repurchased |  | 2,000,000 |  |  | 2,000,000 | 2,000,000
Share-based compensation expense |  | $ 10,146,000 | $ 8,006,000 | $ 6,017,000 |  |
Tax benefit from compensation expense |  | $ 300,000 | 100,000 | (100,000) |  |
Award vesting period |  | 3 years |  |  |  |
Total unrecognized compensation cost for nonvested stock units |  | $ 14,500,000 |  |  |  |
Employee minimum age to participate in plan |  | 21 years |  |  |  |
Company contributions, amount charged to expense |  | $ 6,500,000 | $ 5,800,000 | 4,900,000 |  |
Preferred stock, shares authorized |  | 5,000,000 | 5,000,000 |  |  |
Preferred stock, par value |  | $ 0.01 | $ 0.01 |  |  |
Preferred stock, shares outstanding |  | 75,000 | 75,000 |  |  |
Expected years to recognize unearned compensation |  | 2 years |  |  |  |
Proceeds from issuance of preferred stock, net | $ 72,000,000 | $ 0 | $ 0 | 71,988,000 |  |
Depositary Shares, Issued And Sold | 3,000,000 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value |  | 1,600,000 | 500,000 | 900,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value |  | 100,000 | 100,000 |  |  |
Stock Options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense |  | $ 1,609,000 | 916,000 | 396,000 |  |
Contractual term |  | 10 years |  |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense |  | $ 5,014,000 | 4,156,000 | 3,109,000 |  |
Total unrecognized compensation cost for nonvested stock units | $ 4,622,000 | $ 8,438,000 | $ 8,507,000 | $ 4,622,000 |  |
Number of shares issued |  | 107,353 |  |  |  |
Expected years to recognize unearned compensation |  | 1 year 8 months 12 days | 2 years | 1 year 10 months 24 days |  |
Performance Shares [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense |  | $ 2,879,000 | $ 2,391,000 | $ 1,777,000 |  |
Number of shares issued |  | 112,848 |  |  |  |
Employee Stock [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent |  | 85.00% |  |  |  |
Share-based compensation expense |  | $ 644,000 | $ 543,000 | $ 735,000 |  |
Number of shares authorized |  | 750,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period |  | 68,286 | 55,123 | 64,826 |  |
Share-Based Compensation Arrangement By Share-Based Payment Award, Shares Available Under Employee Stock Purchase Plan |  | 447,655 |  |  |  |
Stock Options and SSARs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based Compensation Arrangement By Share-based Payment Award, Exercises in Period |  | 909 |  |  |  |
Minimum | Stock Options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period |  | 3 years |  |  |  |
Minimum | Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period |  | 3 years |  |  |  |
Maximum | Stock Options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period |  | 5 years |  |  |  |
Maximum | Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period |  | 5 years |  |  |  |
Stock Plan for Non-Management Directors |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for grant |  | 130,162 | 55,878 |  |  |
Number of shares authorized |  | 400,000 |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Grant, Excluding Deferred Shares |  | 108,893 |  |  |  |
Share Based Compensation Arrangement by Shar Based Payment Award Number of Shares Available for Grant, Deferred Shares |  | 21,269 |  |  |  |
Deferred Compensation Plan [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Employee Subscription Rate |  | 25.00% |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Employee Subscription Rate, Bonus |  | 100.00% |  |  |  |
Deferred Compensation Liability, Current and Noncurrent |  | $ 3,700,000 |  |  |  |

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