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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%