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Stockholders' Equity - Stock Repurchase Program (Details) - $ / shares |  | 3 Months Ended | 9 Months Ended | 43 Months Ended |
--- | --- | --- | --- | --- | ---
Mar. 12, 2020 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Mar. 16, 2020
Repurchases Shares Related to Withholding Taxes on the Vesting of Restricted Stock Units |  |  |  |  |  |  |
Stockholders Equity (Textual) [Abstract] |  |  |  |  |  |  |
Twelfth Stock Repurchase Plan, Common Stock, Repurchased Shares (in shares) |  | 335 | 100 | 31,567 | 26,280 |  |
Twelfth Stock Repurchase Plan, Common Stock, Average Price per Share, Withholding Taxes (in usd per share) |  | $ 17.26 | $ 26.94 | $ 22.03 | $ 25.40 |  |
Twelfth Stock Repurchase Plan |  |  |  |  |  |  |
Stockholders Equity (Textual) [Abstract] |  |  |  |  |  |  |
Outstanding Share Percent Authorized for Repurchase | 5.00% |  |  |  |  |  |
Twelfth Stock Repurchase Plan, Common Stock, Shares Authorized (in shares) |  |  |  |  |  |  | 1,799,054
Twelfth Stock Repurchase Plan, Common Stock, Remaining Shares (in shares) |  | 307,790 |  | 307,790 |  | 307,790 |
Twelfth Stock Repurchase Plan, Common Stock, Repurchased Shares (in shares) |  | 148,119 | 0 | 330,424 | 100,090 | 1,491,264 |
Twelfth Stock Repurchase Plan, Common Stock, Average Price per Share, Withholding Taxes (in usd per share) |  | $ 17.08 | $ 0 | $ 18.82 | $ 25.07 | $ 22.80 |

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