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Stockholders' Equity - Restricted Stock Plan (Details) - Restricted Stock - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Nonvested restricted shares outstanding at beginning of year (in shares) 526,961 377,729 405,299
Granted (in shares) 0 678,343 207,135
Forfeited (in shares) (97,629) (49,617) (4,345)
Vested (in shares) (292,519) (479,494) (230,360)
Converted to RSUs (in shares) (136,813) 0 0
Nonvested restricted shares outstanding at end of year (in shares) 0 526,961 377,729
Weighted Average Fair Value at Date of Grant      
Nonvested restricted shares outstanding at beginning of year (in dollars per share) $ 31.89 $ 36.78 $ 34.96
Granted (in dollars per share) 0 31.17 39.10
Forfeited (in dollars per share) 33.46 30.57 33.37
Vested (in dollars per share) 32.98 34.81 35.71
Converted to RSUs (in dollars per shares) 28.43 0 0
Nonvested restricted shares outstanding at end of year (in dollars per share) $ 0 $ 31.89 $ 36.78