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Shareholders’ Equity and Stock Incentive Plans - Schedule of Share-based Compensation Costs by Award Type (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total share-based compensation costs	$ 12,812	$ 12,880	$ 13,844
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total share-based compensation costs	0	0	191
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total share-based compensation costs	7,624	6,900	6,867
PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total share-based compensation costs	$ 5,188	$ 5,980	$ 6,786

X

- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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