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Stockholders' Equity - Changes in Number of Shares of Class A Stock Outstanding (Details) - Class A Stock - shares
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Class A Stock outstanding, beginning of period 10,868,556 12,447,036
Issued pursuant to share-based compensation plans 202,222 86,451
Repurchased and canceled pursuant to the stock buy-back (95,055) (377,313)
Class A Stock outstanding, end of period 10,975,723 12,156,174