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Shareholders’ Equity and Stock Incentive Plans - Schedule of PSU Activity (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Aug. 25, 2023 | Jul. 31, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Mar. 31, 2022 | Mar. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |
Common stock, dividends (USD per share) | $ 2.00 | $ 2.00 |  |  |  |  |  |  |  |
2015 Plan |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |
Common stock, dividends (USD per share) |  |  |  |  |  |  |  | $ 2.00 |  |
Performance Stock Units (PSUs) |  |  |  |  |  |  |  |  |  |
Restricted Stock Units Outstanding |  |  |  |  |  |  |  |  |  |
Units Outstanding, Beginning of year (in shares) |  |  | 1,076,159 |  | 705,577 | 743,719 |  | 1,076,159 | 705,577 | 743,719
Units Outstanding, Granted (in shares) |  |  |  |  |  |  |  | 114,898 | 83,579 | 129,503
Units Outstanding, Performance certification (in shares) |  |  |  |  |  |  |  |  | 534,383 |
Units Outstanding, Vested (in shares) |  |  |  |  |  |  |  | (733,574) | (247,380) | (89,920)
Units Outstanding, Issuance of dividend equivalent (in shares) |  |  |  |  |  |  |  | 23,151 |  |
Units Outstanding, Cancelled (in shares) |  |  |  |  |  |  |  | (8,699) |  | (77,725)
Units Outstanding, End of year (in shares) |  |  |  | 1,076,159 |  |  | 743,719 | 471,935 | 1,076,159 | 705,577
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value, Beginning of year (USD per share) |  |  | $ 17.17 |  | $ 13.84 | $ 13.82 |  | $ 17.17 | $ 13.84 | $ 13.82
Weighted Average Grant Date Fair Value, Granted (USD per share) |  |  |  |  |  |  |  | 41.92 | 53.51 | 29.00
Weighted Average Grant Date Fair Value, Performance certification (USD per share) |  |  |  |  |  |  |  |  | 0 |
Weighted Average Grant Date Fair Value, Vested (USD per share) |  |  |  |  |  |  |  | 8.86 | 12.51 | 25.73
Weighted Average Grant Date Fair Value, Issuance of dividend equivalent (USD per share) |  |  |  |  |  |  |  | 0 |  |
Weighted Average Grant Date Fair Value, Cancelled (USD per share) |  |  |  |  |  |  |  | 53.51 |  | 25.23
Weighted Average Grant Date Fair Value, End of year (USD per share) |  |  |  | $ 17.17 |  |  | $ 13.82 | $ 36.40 | $ 17.17 | $ 13.84
Total Fair Value of Shares Vested |  |  |  |  |  |  |  | $ 30,751 | $ 13,030 | $ 2,608
Percentage of target number of PSU's eligible to vest at "maximum" performance level |  |  |  |  | 200.00% |  |  | 200.00% |  |
Performance Stock Units (PSUs) | Award Date, March 2018 |  |  |  |  |  |  |  |  |  |
Restricted Stock Units Outstanding |  |  |  |  |  |  |  |  |  |
Units Outstanding, Vested (in shares) |  |  |  |  |  | (71,468) |  |  |  |
Performance Stock Units (PSUs) | Award Date, March 2019 |  |  |  |  |  |  |  |  |  |
Restricted Stock Units Outstanding |  |  |  |  |  |  |  |  |  |
Units Outstanding, Vested (in shares) |  |  |  |  | (171,194) | (18,452) |  |  |  |
Units Outstanding, Cancelled (in shares) |  |  |  |  |  |  |  |  |  | (14,934)
Units Outstanding, End of year (in shares) |  |  |  |  |  | 171,194 |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |
Actual number of PSUs granted to each recipient, eligible to vest (in shares) |  |  |  |  |  | 189,646 | 204,580 |  |  |
Performance Stock Units (PSUs) | Award Date, November 2017 |  |  |  |  |  |  |  |  |  |
Restricted Stock Units Outstanding |  |  |  |  |  |  |  |  |  |
Units Outstanding, Cancelled (in shares) |  |  |  |  |  |  |  |  |  | (62,791)
Performance Stock Units (PSUs) | Award Date, March 2022 |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  | 38,093 |  |  |  |  |
Performance Stock Units (PSUs) | Award Date, March 2020 |  |  |  |  |  |  |  |  |  |
Restricted Stock Units Outstanding |  |  |  |  |  |  |  |  |  |
Units Outstanding, Vested (in shares) |  |  |  |  | (76,186) |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |
Percentage of target number of PSU's eligible to vest at "maximum" performance level |  |  |  |  |  |  |  | 200.00% |  |

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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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