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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
	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

X

- 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

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+ References

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