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Summary of Significant Accounting policies - Share Repurchase Program (Details) - USD ($) $ / shares in Units, $ in Thousands, shares in Millions | 12 Months Ended |
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | May 12, 2022
Accounting Policies [Abstract] |  |  |  |
Amount the company can repurchase |  |  |  | $ 50,000
Treasury stock, repurchased (in shares) | 0.4 |  |  |
Treasury stock, repurchased | $ 5,721 | $ 7,471 | $ 5,030 |
Treasury stock, repurchased average cost per share (in dollars per share) | $ 12.83 |  |  |

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