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Shareholders’ Equity and Stock Incentive Plans - Schedule of Stock Option Activity (Details)
 3 Months Ended
Mar. 31, 2023
$ / shares
shares
Shares  
Outstanding, beginning of year (in shares) | shares 2,071,994
Granted (in shares) | shares 0
Exercised (in shares) | shares (41,140)
Cancelled (in shares) | shares 0
Expired (in shares) | shares 0
Outstanding, end of year (in shares) | shares 2,030,854
Exercisable (in shares) | shares 2,030,854
Weighted-Average Exercise Price  
Outstanding, beginning of year (USD per share) | $ / shares $ 11.35
Granted (USD per share) | $ / shares 0
Exercised (USD per share) | $ / shares 16.37
Cancelled (USD per share) | $ / shares 0
Expired (USD per share) | $ / shares 0
Outstanding, end of year (USD per share) | $ / shares 11.25
Exercisable (USD per share) | $ / shares $ 11.25