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Shareholders’ Equity and Stock Incentive Plans - Additional Information (Details) - USD ($) |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 01, 2022 | Aug. 27, 2015 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Nov. 01, 2022 | Aug. 03, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Remaining authorized repurchase amount |  |  | $ 61,500,000 |  |  |  |
Proceeds from exercise of stock options |  |  | 31,000 | $ 98,000 | $ 0 |  |
Maximum |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Proceeds from exercise of stock options |  |  | 100,000 |  |  |  |
Stock options |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Intrinsic value of stock options exercised |  |  | $ 2,600,000 | $ 26,100,000 | $ 1,300,000 |  |
Dividend rate variable |  |  | 0.00% |  |  |  |
Stock options, unrecognized share-based compensation expense |  |  | $ 0 |  |  |  |
Performance Stock Units (PSUs) |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Stock options, unrecognized share-based compensation expense |  |  | $ 6,200,000 |  |  |  |
Weighted-average period for recognition |  |  | 7 months 6 days |  |  |  |
Performance Stock Units (PSUs) | Minimum |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Service period |  |  | 1 year |  |  |  |
Vesting period |  |  | 2 years |  |  |  |
Performance Stock Units (PSUs) | Maximum |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Service period |  |  | 2 years |  |  |  |
Vesting period |  |  | 1 year |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Stock options, unrecognized share-based compensation expense |  |  | $ 8,200,000 |  |  |  |
Weighted-average period for recognition |  |  | 1 year 2 months 12 days |  |  |  |
2015 Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Expiration term |  |  | 10 years |  |  |  |
Number of shares authorized (in shares) |  | 2,250,000 |  |  |  |  |
Number of shares annual increase (in shares) | 1,153,210 | 1,800,000 |  |  |  |  |
Plan shares annual increase, percentage |  | 4.00% |  |  |  |  |
Maximum number of shares authorized per one participant (in shares) |  | 2,000,000 | 3,135,469 |  |  |  |
Common stock |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  | $ 75,000,000 | $ 50,000,000

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- Definition Amount of cost to be recognized for option under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of cash inflow from exercise of option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2A -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=128089324&loc=SL79508275-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 14 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3255-108585 + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + 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 (f)(2)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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