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Stockholders' Equity - Schedule of Shares Repurchased (Details) - USD ($) | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2023 | Jun. 30, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 15, 2022 | Nov. 30, 2020
Equity [Line Items] |  |  |  |  |  |  |  |  |
Shares repurchased during the period | $ 12,297,000 | $ 6,088,000 | $ 2,419,000 | $ 3,502,000 | $ 3,879,000 |  |  |  |
Maximum |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Amount of stock repurchase plan authorized |  |  |  |  |  |  |  |  | $ 12,000,000
June 12, 2023 |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  | 889,566 | 0 |  |
Shares repurchased during the period |  |  |  |  |  | $ 12,231,000 |  |  |
Shares repurchased during period (in USD per share) |  |  |  |  |  | $ 13.75 |  |  |
June 12, 2023 | Maximum |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Amount of stock repurchase plan authorized | 20,000,000 |  |  |  |  | $ 20,000,000 |  |  |
December 15, 2022 |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  | 400,691 | 0 |  |
Shares repurchased during the period |  |  |  |  |  | $ 6,154,000 |  |  |
Shares repurchased during period (in USD per share) |  |  |  |  |  | $ 15.36 |  |  |
December 15, 2022 | Maximum |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Amount of stock repurchase plan authorized | $ 7,997,000 |  |  |  |  | $ 7,997,000 |  | $ 8,000,000.0 |
November 3, 2020 |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  | 0 | 806,324 |  |
Shares repurchased during the period |  |  |  |  |  |  | $ 9,800,000 |  |
Shares repurchased during period (in USD per share) |  |  |  |  |  |  | $ 12.15 |  |
November 3, 2020 | Maximum |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Amount of stock repurchase plan authorized |  |  | $ 20,000,000 |  |  |  | $ 20,000,000 |  | $ 20,000,000

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