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Shareholders’ Equity and Stock Incentive Plans - Summary of Share-based Compensation Costs by Award Type (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | $ 12,880 | $ 13,844 | $ 9,525
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | 0 | 191 | 1,919
RSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | 6,900 | 6,867 | 5,264
PSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total share-based compensation costs | $ 5,980 | $ 6,786 | $ 2,342

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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