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Shareholders’ Equity and Stock Incentive Plans - Additional Information (Details) - USD ($) |  |  |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | ---
Aug. 25, 2023 | Jan. 01, 2023 | Aug. 27, 2015 | Jul. 31, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jul. 27, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Remaining authorized repurchase amount |  |  |  |  | $ 90,900,000 |  |  |
Common stock, dividends (USD per share) | $ 2.00 |  |  | $ 2.00 |  |  |  |
Cash dividend paid |  |  |  | $ 57,700,000 | 57,727,000 | $ 0 | $ 0 |
Proceeds from exercise of stock options |  |  |  |  | 0 | 31,000 | 98,000 |
Stock options |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Intrinsic value of stock options exercised |  |  |  |  | $ 4,600,000 | $ 2,600,000 | $ 26,100,000 |
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] |  |  |  |  |  |  |  |
Service period (in years) |  |  |  |  | 1 year |  |  |
Vesting period (in years) |  |  |  |  | 2 years |  |  |
Stock options, unrecognized share-based compensation expense |  |  |  |  | $ 4,500,000 |  |  |
Weighted-average period for recognition (in years) |  |  |  |  | 10 months 24 days |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Stock options, unrecognized share-based compensation expense |  |  |  |  | $ 7,300,000 |  |  |
Weighted-average period for recognition (in years) |  |  |  |  | 1 year 1 month 6 days |  |  |
2015 Plan |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Expiration term (in years) |  |  | 10 years |  | 10 years |  |  |
Number of shares authorized (in shares) |  |  | 2,250,000 |  |  |  |  |
Number of shares annual increase (in shares) |  | 1,127,160 | 1,800,000 |  |  |  |  |
Plan shares annual increase, percentage |  |  | 4.00% |  |  |  |  |
Maximum number of shares authorized per one participant (in shares) |  |  | 2,000,000 |  | 3,630,600 |  |  |
Common stock, dividends (USD per share) |  |  |  |  | $ 2.00 |  |  |
Common stock |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  |  |  | $ 100,000,000

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