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Stockholders' Equity - Additional Information (Details)
 1 Months Ended 12 Months Ended
Jun. 19, 2020
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Nov. 07, 2022
USD ($)
May 23, 2022
USD ($)
Feb. 07, 2022
USD ($)
Oct. 16, 2019
USD ($)
Class of Stock [Line Items]                  
Issuance of preferred stock, net of issuance costs     $ 0 $ 0 $ 42,364,000        
Amount authorized under stock repurchase program           $ 100,000,000      
Payments for repurchase of common stock     $ 76,714,000 $ 1,241,000 $ 35,772,000        
Series C Preferred Stock                  
Class of Stock [Line Items]                  
Preferred stock issued (in shares) | shares 45,000 45,000 45,000 45,000          
Dividend rate 7.125%   7.125% 7.125%          
Par value per share (in dollars per share) | $ / shares $ 0.01 $ 0.01 $ 0.01 $ 0.01          
Liquidation preference per share (in dollars per share) | $ / shares $ 1,000 $ 1,000 $ 1,000 $ 1,000          
Depositary shares (in shares) | shares 1,800,000                
Depositary shares, ownership interest 0.025                
Proceeds from issuance of preferred stock, gross $ 45,000,000                
Issuance of preferred stock, net of issuance costs $ 42,364,000                
Stock Repurchase Program                  
Class of Stock [Line Items]                  
Amount authorized under stock repurchase program             $ 75,000,000 $ 50,000,000 $ 50,000,000
Shares repurchased into treasury stock (in shares) | shares     709,795 0 871,319        
Average price of shares repurchased into treasury stock (in dollars per share) | $ / shares     $ 70.41   $ 40.81        
Payments for repurchase of common stock     $ 50,000,000   $ 35,600,000        
Dutch Auction Tender Offer                  
Class of Stock [Line Items]                  
Shares repurchased into treasury stock (in shares) | shares   408,615              
Average price of shares repurchased into treasury stock (in dollars per share) | $ / shares   $ 58.00              
Payments for repurchase of common stock   $ 24,772,000              
Tender offer fees and expenses   $ 1,072,000