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Shareholders' Equity and Share-Based Compensation - Narrative (Details) | 1 Months Ended | 12 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | ---
May 31, 2021 shares | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2012 | May 25, 2022 USD ($) | Dec. 31, 2021 $ / shares | Sep. 30, 2015 USD ($) | Dec. 31, 1996 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares reacquired during period (in shares) | shares |  | 196,934 | 670,816 |  |  |  |  |
Percentage of outstanding shares reacquired |  | 0.50% | 1.60% |  |  |  |  |
Shares reacquired during period, value | $ |  | $ 6,500,000 | $ 24,000,000 |  |  |  |  |
Share price of treasury stock acquired during period (in usd per share) | $ / shares |  | $ 32.85 | $ 35.82 |  |  |  |  |
Accumulated shares purchased (in shares) | shares |  | 439,035 |  |  |  |  |  |
Average cost per share (in usd per share) | $ / shares |  | $ 34,490 |  |  |  |  |  |
Remaining authorized repurchase amount | $ |  | $ 34,900,000 |  |  |  |  |  |
Treasury stock (in shares) | shares |  | 25,911,087 | 25,714,153 |  |  |  |  |
Preferred stock, shares authorized (in shares) | shares |  | 1,000,000 | 1,000,000 |  |  |  |  | 1,000,000
Preferred stock, par value (in usd per share) | $ / shares |  | $ 0.001 | $ 0.001 |  |  |  |  | $ 0.001
Fungible share pool, grant of full value share conversion ratio |  |  |  | 2.5 |  |  |  |
Intrinsic value | $ / shares |  | 0 |  |  |  |  |  |
Weighted average exercise prices of vested and exercisable options (in usd per share) | $ / shares |  | 38.98 | $ 38.60 |  |  | $ 37.94 |  |
Share price (in usd per share) | $ / shares |  | $ 32.70 |  |  |  |  |  |
Aggregate intrinsic value of vested options | $ |  | $ 400,000 |  |  |  |  |  |
Aggregate intrinsic value of options | $ |  | $ 400,000 |  |  |  |  |  |
Minimum | Employee stock option |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Vesting period |  | 4 years |  |  |  |  |  |
Minimum | Restricted stock units |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Vesting period |  | 1 year |  |  |  |  |  |
Maximum |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Expiration period |  | 10 years |  |  |  |  |  |
Maximum | Restricted stock units |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Vesting period |  | 3 years |  |  |  |  |  |
2022 program |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Authorized repurchase amount | $ |  |  |  |  | $ 50,000,000 |  |  |
2015 program |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Authorized repurchase amount | $ |  |  |  |  |  |  | $ 50,000,000 |
2010 program |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Amended increase in shares reserved for issuance (in shares) | shares | 2,500,000 |  |  |  |  |  |  |
Shares available for grant (in shares) | shares |  | 1,067,611 |  |  |  |  |  |

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