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Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2020
Stockholders' Equity Note [Abstract]          
Repurchase of common stock authorized by board of directors         $ 60,000
Common stock repurchased (in shares)     154,215 135,118  
Common stock repurchased, value $ 65 $ 5,138 $ 5,245 $ 5,138  
Common stock repurchased, average price per share (in dollars per share)     $ 33.98 $ 38.03  
Remaining authorized stock repurchase amount $ 39,600   $ 39,600    
Dividend rate (as a percent)     6.50%    
Preferred stock dividends paid     $ 2,400 $ 2,400