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Stock Plans and Share-Based Compensation - Roll-Forward of Activity for Restricted Stock Awards (Details) - Restricted Stock - $ / shares
12 Months Ended
Mar. 08, 2021
Dec. 31, 2022
Dec. 31, 2020
Units      
Unvested balance at beginning of period (in shares)   200,000  
Granted (in shares)   0 0
Vested (in shares)   (100,000)  
Forfeited (in shares)   0  
Expired (in shares)   0  
Unvested balance at end of period (in shares)   100,000  
Weighted- Average Grant-Date Fair Value      
Unvested balance at beginning of period (in dollars per share)   $ 29.52  
Granted (in dollars per share) $ 28.74 0  
Vested (in dollars per share)   29.52  
Forfeited (in dollars per share)   0  
Expired (in dollars per share)   0  
Unvested balance at end of period (in dollars per share)   $ 29.52