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Shareholders’ Equity and Stock Incentive Plans - Schedule of Activity Related To RSUs and PSUs (Details) - $ / shares
3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
RSUs    
Shares    
Outstanding, beginning of year (in shares) 428,762  
Granted (in shares) 202,826  
Vested (in shares) (170,783)  
Cancelled (in shares) 0  
Outstanding, end of year (in shares) 460,805 428,762
Weighted-Average Grant Date Fair Value    
Outstanding, beginning of year (USD per share) $ 34.09  
Granted (USD per share) 34.22  
Vested (USD per share) 37.40  
Cancelled (USD per share) 0  
Outstanding, end of year (USD per share) $ 32.95 $ 34.09
PSUs    
Shares    
Outstanding, beginning of year (in shares) 471,935  
Granted (in shares) 131,906  
Vested (in shares) (272,362)  
Cancelled (in shares) (37,101)  
Outstanding, end of year (in shares) 294,378 471,935
Weighted-Average Grant Date Fair Value    
Outstanding, beginning of year (USD per share) $ 36.40  
Granted (USD per share) 34.06  
Vested (USD per share) 29.00  
Cancelled (USD per share) 41.92  
Outstanding, end of year (USD per share) $ 41.33 $ 36.40
Percentage of target number eligible to vest 200.00%  
PSUs | 2021 PSU Awards    
Weighted-Average Grant Date Fair Value    
Percentage of target number eligible to vest 200.00%  
PSUs | 2022 PSU Awards    
Weighted-Average Grant Date Fair Value    
Percentage of target number eligible to vest 89.60%  
PSUs | 2023 PSU Awards    
Weighted-Average Grant Date Fair Value    
Percentage of target number eligible to vest 100.00%  
Percentage of target earned 69.30%  
Actual number of PSUs granted to each recipient, eligible to vest (in shares) 83,724 120,825