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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