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Shareholders' Equity - Schedule of Shares Granted and Vested (Details) - Share Award Plans - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Unvested shares at the beginning of the year (in shares) 1,116,000 845,620 434,550
Shares awarded (in shares) 960,000 847,000 838,000
Shares vested/forfeited (in shares) (847,800) (576,620) (426,930)
Unvested shares at the end of the year (in shares) 1,228,200 1,116,000 845,620
Weighted Average Award Date Fair Value      
Unvested shares at the beginning of the year (in dollars per share) $ 2.50 $ 4.07 $ 6.15
Shares awarded (in dollars per share) 2.24 1.44 3.45
Shares vested/forfeited (in dollars per share) 2.53 3.24 4.98
Unvested shares at the end of the year (in dollars per share) $ 2.28 $ 2.50 $ 4.07