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Shareholders’ Equity and Stock Incentive Plans - Schedule of Activity Related To RSUs and PSUs (Details) - $ / shares
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2024
Jun. 30, 2024
Dec. 31, 2023
RSUs      
Shares      
Outstanding, beginning of year (in shares)   428,762  
Granted (in shares)   226,310  
Vested (in shares)   (179,367)  
Cancelled (in shares)   (8,162)  
Outstanding, end of year (in shares) 467,544 467,544 428,762
Weighted-Average Grant Date Fair Value      
Outstanding, beginning of year (USD per share)   $ 34.09  
Granted (USD per share)   33.65  
Vested (USD per share)   37.71  
Cancelled (USD per share)   38.84  
Outstanding, end of year (USD per share) $ 32.43 $ 32.43 $ 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)   (42,568)  
Outstanding, end of year (in shares) 288,911 288,911 471,935
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)   41.83  
Outstanding, end of year (USD per share) $ 41.33 $ 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      
Shares      
Cancelled (in shares) (5,467)    
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