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Shareholders’ Equity and Stock Incentive Plans - Additional Information (Details) - USD ($) |  |  |  | 3 Months Ended |
--- | --- | --- | --- | --- | ---
Apr. 04, 2024 | Feb. 27, 2024 | Jan. 01, 2024 | Mar. 31, 2024 | Mar. 31, 2023 | Jul. 27, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  | 0 | 0 |
Stock repurchase, remaining authorized repurchase amount |  |  |  | $ 90,900,000 |  |
Common stock, dividends (USD per share) |  | $ 0.25 |  |  |  |
Common stock available for grants of awards (in shares) |  |  |  | 4,348,412 |  |
Number of shares available for grant annual increase (in shares) |  |  | 1,146,766 |  |  |
Subsequent Event |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Cash dividend paid | $ 7,200,000 |  |  |  |  |
Option |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense, net |  |  |  | $ 0 | $ 0 |
Stock options, unrecognized share-based compensation expense |  |  |  | 0 | 0 |
RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense, net |  |  |  | 1,800,000 | 1,800,000 |
Stock options, unrecognized share-based compensation expense |  |  |  | $ 12,400,000 | $ 12,200,000 |
Share-based compensation expense not yet recognized, weighted-average period for recognition (in years) |  |  |  | 1 year 8 months 12 days | 1 year 9 months 18 days |
PSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense, net |  |  |  | $ 1,200,000 | $ 1,500,000 |
Stock options, unrecognized share-based compensation expense |  |  |  | $ 7,900,000 | $ 9,700,000 |
Share-based compensation expense not yet recognized, weighted-average period for recognition (in years) |  |  |  | 2 years 2 months 12 days | 1 year 7 months 6 days |
Common stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  | $ 100,000,000

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