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Stockholders' Equity - Summary of Capital Structure (Details) - USD ($) | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2023 | Dec. 31, 2022
Class of Stock [Line Items] |  |
Shares authorized (in shares) | 50,000,000 | 50,000,000
Shares issued (in shares) | 28,975,206 | 28,321,716
Treasury shares (in shares) | (5,683,513) | (4,268,131)
Shares outstanding (in shares) | 23,291,693 | 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 share) | $ 0.01 | $ 0.01
Liquidation preference per share (in dollars per share) | $ 1,000 | $ 1,000
Liquidation preference amount | $ 45,000,000 | $ 45,000,000
Dividend rate | 7.125% | 7.125%

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