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Shareholders' Equity (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Jul. 25, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Feb. 05, 2019
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Dividends per share (in dollars per share) |  | $ 0.24 | $ 0.24 | $ 0.24 | $ 0.24 | $ 0.24 | $ 0.24 | $ 0.48 | $ 0.48 |
Repurchases of common stock |  |  |  |  |  |  |  | $ 79,792,000 | $ 17,780,000 |
Stock Repurchase Plan 2019 |  |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Shares authorized for repurchase (in shares) |  |  |  |  |  |  |  |  |  | 5,000,000
Shares available to be purchased (in shares) |  | 1,473,000 |  |  |  |  |  | 1,473,000 |  |
Stock Repurchase Plan 2019 | Common Stock |  |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  |  |  | 759,000 | 176,000 |
Repurchases of common stock |  |  |  |  |  |  |  | $ 79,792,000 | $ 17,780,000 |
Average cost per share (in dollars per share) |  |  |  |  |  |  |  | $ 105.09 | $ 100.86 |
Subsequent Event |  |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Dividends per share (in dollars per share) | $ 0.24 |  |  |  |  |  |  |  |  |

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