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Shareholders’ Equity and Stock Incentive Plans - Additional Information (Details) - USD ($)		3 Months Ended			6 Months Ended		12 Months Ended
	Jan. 01, 2023	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Jul. 27, 2023	Nov. 01, 2022	Aug. 03, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock repurchase, remaining authorized repurchase amount		$ 61,500,000			$ 61,500,000
Share-based compensation expense, net					$ 0	$ 0
Common stock available for grants of awards (in shares)		3,988,688			3,988,688
Number of shares available for grant annual increase (in shares)	1,127,160
Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense, net		$ 0		$ 0
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		1,400,000		1,500,000	$ 2,900,000	3,100,000
Percentage of target number of PSU's eligible to vest at "maximum" performance level					200.00%
Unamortized share-based compensation expense		8,400,000		9,800,000	$ 8,400,000	$ 9,800,000
Share-based compensation expense not yet recognized, weighted-average period for recognition					1 year 4 months 24 days	2 years
PSUs | Award Date, March 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of target number of PSU's eligible to vest at "maximum" performance level					200.00%
PSUs | Award Date, March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of target number of PSU's eligible to vest at "maximum" performance level					200.00%
PSUs | Award Date, March 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of target number of PSU's eligible to vest at "maximum" performance level					200.00%
PSUs | Award Date, March 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of target number of PSU's eligible to vest at "maximum" performance level					89.60%
Actual number of PSUs granted to each recipient, eligible to vest (in shares)			74,880				83,579
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense, net		1,900,000		1,800,000	$ 3,700,000	$ 3,300,000
Unamortized share-based compensation expense		$ 11,200,000		$ 11,800,000	$ 11,200,000	$ 11,800,000
Share-based compensation expense not yet recognized, weighted-average period for recognition					1 year 7 months 6 days	2 years
Common stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock repurchase, authorized									$ 75,000,000	$ 50,000,000
Common stock | Subsequent Event
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock repurchase, authorized								$ 100,000,000

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