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Shareholders' Equity - Dividends and Stock Repurchase Programs (Details) - USD ($) $ / shares in Units, shares in Thousands | 3 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Jun. 30, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Mar. 31, 2020
Equity [Abstract] |  |  |  |  |
Cash dividends declared (in dollars per share) |  | $ 0.56 | $ 0.52 | $ 0.48 |
Cash dividends declared |  | $ 33,800,000 | $ 32,200,000 | $ 30,000,000 |
Un paid cash dividend declared |  | 8,400,000 | $ 8,600,000 | $ 7,400,000 |
Authorized amount |  |  |  |  | $ 200,000,000
Amount available to repurchase shares under stock repurchase program |  | $ 137,000,000 |  |  |
Shares repurchased (in shares) |  | 500 | 2,000 | 1,700 |
Amount of shares repurchased |  | $ 10,100,000 | $ 48,700,000 | $ 50,500,000 |
Stock repurchased under Convertible Notes agreement | 2,240 |  |  |  |
Payments for Repurchase of Common Stock under Convertible Notes agreement | $ 50,000,000 | $ 60,100,000 | $ 48,700,000 | $ 50,500,000 |

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- Definition Amount of paid and unpaid cash dividends declared for classes of stock, for example, but not limited to, common and preferred. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 505 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480008/505-10-S99-1 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 2 -SubTopic 405 -Topic 942 -Publisher FASB -URI https://asc.fasb.org//1943274/2147481071/942-405-45-2 + Details
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