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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
	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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Amount of stock repurchase plan authorized.

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Total cost of shares repurchased divided by the total number of shares repurchased.

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Number of shares that have been repurchased during the period and are being held in treasury.

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Equity impact of the cost of common and preferred stock that were repurchased during the period. Recorded using the cost method.

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