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Shareholders’ Equity and Stock Incentive Plans - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Jan. 01, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Nov. 01, 2022
May 03, 2022
Aug. 03, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Shares repurchased         $ 22,474,000 $ 15,196,000            
Stock repurchase, remaining authorized repurchase amount       $ 27,500,000       $ 27,500,000        
Common stock available for grants of awards (in shares)       3,136,862       3,136,862        
Number of shares available for grant annual increase (in shares) 1,153,210                      
Option                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share-based compensation expense, net       $ 0     $ 0 $ 0 $ 200,000      
Stock options, unrecognized share-based compensation expense       0     0 0 0      
PSUs                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share-based compensation expense, net       1,500,000     800,000 $ 4,600,000 2,700,000      
Percentage of target number of PSU's eligible to vest at "maximum" performance level           200.00%   200.00%        
Granted (in shares)               83,579        
Unamortized share-based compensation expense       8,300,000     5,000,000 $ 8,300,000 $ 5,000,000      
Share-based compensation expense not yet recognized, weighted-average period for recognition               10 months 24 days 2 years      
PSUs | March 2019                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Granted (in shares)           171,194   171,194        
PSUs | March 2020                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Granted (in shares)               76,186        
PSUs | March 2022                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Shares issued (in shares)           38,093            
RSUs                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Share-based compensation expense, net       1,800,000     2,200,000 $ 5,100,000 $ 5,300,000      
Granted (in shares)               122,577        
Unamortized share-based compensation expense       $ 10,000,000     $ 10,900,000 $ 10,000,000 $ 10,900,000      
Share-based compensation expense not yet recognized, weighted-average period for recognition               1 year 4 months 24 days 2 years      
Common stock                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Common stock repurchase, authorized                     $ 50,000,000 $ 50,000,000
Shares repurchased (in shares)   268,791 226,485 0 515,000 269,000            
Common stock price per share (USD per share)   $ 56.54 $ 46.87   $ 43.63 $ 56.54            
Shares repurchased         $ 5,000 $ 2,000            
Common stock | Subsequent Event                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Common stock repurchase, authorized                   $ 75,000,000    
Accumulated deficit                        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                        
Shares repurchased   $ 15,200,000 $ 10,600,000   $ 22,469,000 $ 15,194,000