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Stockholders' Equity - Summary of Common Stock (Details) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
Equity [Abstract]    
Shares authorized (in shares) 50,000,000 50,000,000
Shares issues (in shares) 28,321,716 28,261,680
Treasury shares (in shares) (4,268,131) (3,102,801)
Shares outstanding (in shares) 24,053,585 25,158,879
Par value per share (in dollars per share) $ 0.01 $ 0.01