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Shareholders’ Equity and Stock Incentive Plans - Schedule of Activity Related To Time-based Restricted Stock Units (RSUs) and Performance-based Restricted Stock Units (PSUs) (Details)
 6 Months Ended
Jun. 30, 2023
$ / shares
shares
RSUs  
Shares  
Outstanding, beginning of year (in shares) | shares 547,671
Granted (in shares) | shares 159,043
Vested (in shares) | shares (285,179)
Cancelled (in shares) | shares 0
Outstanding, end of year (in shares) | shares 421,535
Weighted-Average Grant Date Fair Value  
Outstanding, beginning of year (USD per share) | $ / shares $ 26.09
Granted (USD per share) | $ / shares 42.17
Vested (USD per share) | $ / shares 22.79
Cancelled (USD per share) | $ / shares 0
Outstanding, end of year (USD per share) | $ / shares $ 34.38
PSUs  
Shares  
Outstanding, beginning of year (in shares) | shares 1,076,159
Granted (in shares) | shares 114,898
Vested (in shares) | shares (733,574)
Cancelled (in shares) | shares (8,699)
Outstanding, end of year (in shares) | shares 448,784
Weighted-Average Grant Date Fair Value  
Outstanding, beginning of year (USD per share) | $ / shares $ 17.17
Granted (USD per share) | $ / shares 41.92
Vested (USD per share) | $ / shares 8.86
Cancelled (USD per share) | $ / shares 53.51
Outstanding, end of year (USD per share) | $ / shares $ 36.40