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Self-Tender Offer (Details) - USD ($) |  |  | 12 Months Ended
--- | --- | --- | ---
Apr. 08, 2021 | Mar. 08, 2021 | Dec. 30, 2023 | Dec. 31, 2022 | Jan. 01, 2022
Self-Tender Stock Offering [Line Items] |  |  |  |  |
Payments for Self-Tender stock offering, net |  |  | $ 31,417,000 | $ 27,630,000 | $ 44,976,000
Self Tender Offer |  |  |  |  |
Self-Tender Stock Offering [Line Items] |  |  |  |  |
Self-tender stock offering, authorized amount |  | $ 25,000,000 |  |  |
Self-Tender stock offering, share purchase price (in dollars per share) | $ 74.00 |  |  |  |
Payments for Self-Tender stock offering, net | $ 25,300,000 |  |  |  |
Self-tender stock offering, number of shares repurchased (in shares) | 337,837 |  |  |  |
Minimum | Self Tender Offer |  |  |  |  |
Self-Tender Stock Offering [Line Items] |  |  |  |  |
Self-Tender stock offering, share purchase price (in dollars per share) |  | $ 66.25 |  |  |
Maximum | Self Tender Offer |  |  |  |  |
Self-Tender Stock Offering [Line Items] |  |  |  |  |
Self-Tender stock offering, share purchase price (in dollars per share) |  | $ 76.00 |  |  |

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