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Share Repurchase Program (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Nov. 01, 2016
Equity, Class of Treasury Stock [Line Items] |  |  |  |
Total number of shares repurchased (in shares) | 0 | 0 | 3,100,000 |
Purchase of treasury stock |  |  | $ 18,100,000 |
Average price paid per share (in dollars per share) |  |  | $ 5.92 |
Amount available under the share repurchase program | $ 44,000,000 |  |  |
2016 Repurchase Program |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |
Authorized share repurchased program amount |  |  |  | $ 100,000,000

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