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Senior Notes (Details) - USD ($) |  | 12 Months Ended |
--- | --- | --- | ---
May 31, 2018 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | May 13, 2021
Debt Instrument [Line Items] |  |  |  |  |
Debt instrument, term |  | 77 months |  |  |
Debt Instrument, Redemption Period |  | 180 days |  |  |
Amortization of debt issuance costs |  | $ 552,000 | $ 576,000 | $ 782,000 |
Senior Note Two |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Amortization of Debt Discount (Premium) |  | 0 | 85,000 | 221,000 |
Senior notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Principal amount |  | 400,000,000 |  |  | $ 400,000,000
Long-term debt, fair value |  | 322,300,000 |  |  |
Interest expense |  | 16,980,000 | 21,767,000 | 26,500,000 |
Amortization of Debt Discount (Premium) |  | 493,000 | 504,000 | 528,000 |
Amortization of debt issuance costs |  | $ 140,000 | 195,000 | $ 280,000 |
Senior notes | Debt Instrument, Redemption, Period One |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt redemption price (percent) | 102.13% |  |  |  |
Senior notes | Debt Instrument, Redemption, Period Two |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt redemption price (percent) | 101.06% |  |  |  |
Senior notes | Debt Instrument, Redemption, Period Three |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt redemption price (percent) | 100.00% |  |  |  |
Senior notes | Debt Instrument, Redemption, Period Four |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt Instrument, Redemption Price, Percentage of Principal Amount Redeemed | 40.00% |  |  |  |
Senior notes | Debt Instrument, Redemption, Period Five |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt redemption price (percent) | 104.25% | 101.00% |  |  |
Senior notes | Debt Instrument, Redemption, Period Six |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt redemption price (percent) |  | 100.00% |  |  |
Debt Instrument, Redemption Price, Percentage of Principal Amount Redeemed | 50.00% |  |  |  |
Senior notes | Senior Note One |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt Instrument, Discount Rate |  | 4.42% |  |  |
Senior notes | Senior Note Two |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Principal amount |  | $ 400,000,000 | $ 400,000,000 |  |
Debt Instrument, Unamortized Debt Issuance Costs |  | 4.30% |  |  |
Senior Notes 4.25% | Senior Note Two |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Debt instrument interest rate (in percent) |  |  |  |  | 4.25%

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- Definition Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments. Excludes amortization of financing costs. Alternate captions include noncash interest expense. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 1A -URI https://asc.fasb.org/extlink&oid=124435984&loc=d3e28541-108399 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 470 -SubTopic 20 -Section 50 -Paragraph 1F -Subparagraph (b)(2) -URI https://asc.fasb.org/extlink&oid=123466505&loc=SL123495355-112611 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.8) -URI https://asc.fasb.org/extlink&oid=126953954&loc=SL114868664-224227 + Details
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