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Equity (Details) - USD ($)
 1 Months Ended 12 Months Ended
Sep. 30, 2017
Oct. 31, 2016
Dec. 31, 2022
Dec. 31, 2021
Oct. 26, 2022
Common Stock Repurchase          
Repurchase of common stock authorized by Board of Directors         $ 60,000,000
Common stock repurchased, value     $ 5,245,000 $ 10,086,000  
Weighted average price per share (in dollars per share)     $ 33.98 $ 37.57  
Stock repurchase program, remaining authorized repurchase amount     $ 39,600,000    
Redeemable preferred stock - shares issued (in shares)     2,500,000 2,500,000  
Dividend rate     6.50%    
Redeemable preferred stock - par value (in dollars per share)     $ 0.01 $ 0.01  
Liquidation preference (in dollars per share)     20.00    
Redemption price (in dollars per share)     $ 20.00    
Series A-1 Preferred Stock          
Common Stock Repurchase          
Redeemable preferred stock - shares issued (in shares)   1,000,000      
Dividend rate   6.50%      
Redeemable preferred stock - par value (in dollars per share)   $ 0.01      
Purchase price (in dollars per share)   $ 20.00      
Net proceeds after deducting investor fees   $ 19,800,000      
Preferred stock dividends     $ 3,300,000    
Series A-2 Preferred Stock          
Common Stock Repurchase          
Redeemable preferred stock - shares issued (in shares) 1,500,000        
Dividend rate 6.50%        
Redeemable preferred stock - par value (in dollars per share) $ 0.01        
Purchase price (in dollars per share) $ 20.00        
Net proceeds after deducting investor fees $ 29,700,000        
Common Stock          
Common Stock Repurchase          
Shares repurchased (in shares)     154,215 268,408  
Common stock repurchased, value     $ 1,000 $ 3,000