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Stockholders' Equity - Stock Repurchase Program (Details) - $ / shares
12 Months Ended 34 Months Ended 74 Months Ended
Mar. 12, 2020
Oct. 23, 2014
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2022
Dec. 31, 2020
Shares Related to Withholding Taxes on the Vesting of Restricted Stock              
Class of Stock [Line Items]              
Repurchased shares (in shares)     26,944 26,869 28,887    
Average price of shares repurchased (in usd per share)     $ 25.52 $ 29.10 $ 21.57    
Eleventh Plan              
Class of Stock [Line Items]              
Outstanding share, percent   5.00%          
Outstanding common shares in the plan   1,512,600          
Repurchased shares (in shares)     0 0 639,922    
Total repurchased in shares (in shares)             1,512,600
Stock repurchase average share price     $ 0 $ 0 $ 23.95   $ 21.69
Twelfth Stock Repurchase Plan              
Class of Stock [Line Items]              
Outstanding share, percent 5.00%            
Outstanding common shares in the plan 1,799,054            
Repurchased shares (in shares)     100,090 904,972 155,778    
Total repurchased in shares (in shares)           1,160,840  
Stock repurchase average share price     $ 25.07 $ 24.43 $ 20.34 $ 23.94