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Debt - Credit Agreement (Details Textual) - USD ($)	1 Months Ended		12 Months Ended
	Sep. 30, 2023	Sep. 30, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Carrying value of debt			$ 542,497,000	$ 412,969,000
Proceeds from long term debt			470,000,000	290,000,000	$ 150,000,000
Principal repayments			327,500,000	264,801,000	128,438,000
Net increase of available cash		$ 30,000,000	74,858,000	(2,884,000)	37,172,000
Payments of deferred financing costs			14,539,000	0	3,000,000
Financing costs		3,700,000
Loss on extinguishment of debt			0	0	(132,000)
Revolving Loan
Debt Instrument [Line Items]
Principal repayments			275,000,000
2018 Credit Agreement
Debt Instrument [Line Items]
Credit Agreement		350,000,000
Principal repayments		120,000,000
2018 Credit Agreement | Revolving Loan
Debt Instrument [Line Items]
Loss on extinguishment of debt					$ 100,000
2021 Credit Agreement
Debt Instrument [Line Items]
Credit Agreement		600,000,000
Payments of deferred financing costs	$ 500,000		3,000,000
Financing costs			$ 2,400,000
2021 Credit Agreement | Minimum
Debt Instrument [Line Items]
Line of credit facility, unused capacity, commitment fee percentage			0.15%
2021 Credit Agreement | Maximum
Debt Instrument [Line Items]
Line of credit facility, unused capacity, commitment fee percentage			0.325%
2021 Credit Agreement | Secured Overnight Financing Rate (SOFR) | Minimum
Debt Instrument [Line Items]
Basis spread on term loan			1.375%
2021 Credit Agreement | Secured Overnight Financing Rate (SOFR) | Maximum
Debt Instrument [Line Items]
Basis spread on term loan			2.125%
2021 Credit Agreement | Base Rate | Minimum
Debt Instrument [Line Items]
Basis spread on term loan			0.375%
2021 Credit Agreement | Base Rate | Maximum
Debt Instrument [Line Items]
Basis spread on term loan			1.125%
2021 Credit Agreement | Revolving Loan
Debt Instrument [Line Items]
Credit Agreement		450,000,000	$ 450,000,000
Term loan period	5 years
Credit facility term					5 years
Principal repayments			$ 275,000,000
Basis spread on term loan			1.375%
Line of credit facility, unused capacity, commitment fee percentage			0.15%
Combined interest rate			6.823%
Credit Facility, current borrowing outstanding			$ 0
Credit facility, outstanding borrowings			$ 0	275,000,000
2021 Credit Agreement | Revolving Loan | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
SOFR, spread adjustment			0.10%
2021 Credit Agreement | Revolving Loan | Additional Repayments
Debt Instrument [Line Items]
Principal repayments			$ 45,000,000
2021 Credit Agreement | Term SOFR Loans
Debt Instrument [Line Items]
Basis spread on term loan			0.10%
2021 Credit Agreement | 2021 Term Loan
Debt Instrument [Line Items]
Carrying value of debt		150,000,000	$ 130,713,000	137,969,000
Term loan period					5 years
Proceeds from long term debt		$ 150,000,000
Principal repayments			$ 7,500,000
Basis spread on term loan			1.375%
Combined interest rate			6.823%
Financing costs			$ 2,412,000	$ 2,656,000
2021 Credit Agreement | 2021 Term Loan | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
SOFR, spread adjustment			0.10%

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- Definition

Amount of increase (decrease) in cash, cash equivalents, and cash and cash equivalents restricted to withdrawal or usage; including effect from exchange rate change. Cash includes, but is not limited to, currency on hand, demand deposits with banks or financial institutions, and other accounts with general characteristics of demand deposits. Cash equivalents include, but are not limited to, short-term, highly liquid investments that are both readily convertible to known amounts of cash and so near their maturity that they present insignificant risk of changes in value because of changes in interest rates.

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Period of time between issuance and maturity of debt instrument, in PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Amount, after accumulated amortization, of debt issuance costs classified as noncurrent. Includes, but is not limited to, legal, accounting, underwriting, printing, and registration costs.

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The carrying value as of the balance sheet date of the current and noncurrent portions of long-term obligations drawn from a line of credit, which is a bank's commitment to make loans up to a specific amount. Examples of items that might be included in the application of this element may consist of letters of credit, standby letters of credit, and revolving credit arrangements, under which borrowings can be made up to a maximum amount as of any point in time conditional on satisfaction of specified terms before, as of and after the date of drawdowns on the line. Includes short-term obligations that would normally be classified as current liabilities but for which (a) postbalance sheet date issuance of a long term obligation to refinance the short term obligation on a long term basis, or (b) the enterprise has entered into a financing agreement that clearly permits the enterprise to refinance the short-term obligation on a long term basis and the following conditions are met (1) the agreement does not expire within 1 year and is not cancelable by the lender except for violation of an objectively determinable provision, (2) no violation exists at the BS date, and (3) the lender has entered into the financing agreement is expected to be financially capable of honoring the agreement.

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Maximum borrowing capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility.

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-URI https://asc.fasb.org//1943274/2147479886/946-10-S99-3

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 15
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482740/230-10-45-15

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