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Stockholders' Equity - Schedule of Total Repurchased Shares and Average Share Prices (Details) - $ / shares	12 Months Ended			46 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2023
Repurchases Shares Related to Withholding Taxes on the Vesting of Restricted Stock Units
Class of Stock [Line Items]
Repurchased shares (in shares)	32,792	26,944	26,869
Stock repurchased average share price (in dollars per share)	$ 22.01	$ 25.52	$ 29.10
Twelfth Stock Repurchase Plan
Class of Stock [Line Items]
Repurchased shares (in shares)	330,424	100,090	904,972	1,491,264
Stock repurchased average share price (in dollars per share)	$ 18.92	$ 25.07	$ 24.43	$ 22.82

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