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Summary of Significant Accounting Policies - Reconciliation of the Basic and Diluted EPS Denominators (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Reconciliation of the basic and diluted EPS denominators      
Basic weighted-average common shares 31,028 31,776 32,010
Dilutive effect of restricted common stock 270 234 268
Diluted weighted-average common shares 31,298 32,010 32,278