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Schedule II Condensed Financial Information of Registrant - Condensed Balance Sheet (Additional Information) (Details) - $ / shares | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 1996
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Condensed Financial Statements, Captions [Line Items] |  |  |  |
Preferred stock, par value (in usd per share) | $ 0.001 | $ 0.001 |  | $ 0.001
Preferred stock, shares authorized (in shares) | 1,000,000 | 1,000,000 |  | 1,000,000
Preferred stock, shares issued (in shares) | 0 | 0 |  |
Common stock, par value (in usd per share) | $ 0.001 | $ 0.001 | $ 0.001 |
Common stock, shares authorized (in shares) | 75,000,000 | 75,000,000 |  |
Common stock, shares issued (in shares) | 66,747,821 | 66,618,465 |  |
Treasury stock (in shares) | 25,911,087 | 25,714,153 |  |
Parent company |  |  |  |
Condensed Financial Statements, Captions [Line Items] |  |  |  |
Preferred stock, par value (in usd per share) | $ 0.001 | $ 0.001 |  |
Preferred stock, shares authorized (in shares) | 1,000,000 | 1,000,000 |  |
Preferred stock, shares issued (in shares) | 0 | 0 |  |
Common stock, par value (in usd per share) | $ 0.001 | $ 0.001 |  |
Common stock, shares authorized (in shares) | 75,000,000 | 75,000,000 |  |
Common stock, shares issued (in shares) | 66,747,821 | 66,618,465 |  |
Treasury stock (in shares) | 25,911,087 | 25,714,153 |  |

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