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Stockholders' Equity - Summary of Capital Structure (Details) - USD ($)
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Shares authorized (in shares) 50,000,000 50,000,000
Shares issued (in shares) 28,951,832 28,321,716
Treasury shares (in shares) (5,681,947) (4,268,131)
Shares outstanding (in shares) 23,269,885 24,053,585
Par value per share (in dollars per share) $ 0.01 $ 0.01
Preferred Stock Series C    
Class of Stock [Line Items]    
Shares authorized (in shares) 51,750 51,750
Shares issued (in shares) 45,000 45,000
Shares outstanding (in shares) 45,000 45,000
Par value per share (in dollars per shares) $ 0.01 $ 0.01
Liquidation preference per share (in dollars per shares) $ 1,000 $ 1,000
Liquidation preference amount $ 45,000,000 $ 45,000,000
Dividend rate 7.125% 7.125%