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Common Stock and Earnings per Share - Additional Information (Details) | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2022 Classofstock $ / shares shares | Dec. 31, 2021 $ / shares shares | Feb. 10, 2022 shares | Nov. 04, 2021 shares | May 09, 2019 shares
Equity, Class of Treasury Stock |  |  |  |  |
Number of classes of common stock | Classofstock | 2 |  |  |  |
Number of shares authorized to be repurchased (shares) |  |  | 5,000,000 |  |
Class A Non-Voting |  |  |  |  |
Equity, Class of Treasury Stock |  |  |  |  |
Approval rate to waive equal consideration rights | 75.00% |  |  |  |
Class A Non-Voting | Repurchase Authorization 2019 |  |  |  |  |
Equity, Class of Treasury Stock |  |  |  |  |
Shares repurchased (shares) |  | 530,598 |  |  |
Average cost (USD per share) | $ / shares |  | $ 9.63 |  |  |
Class A Non-Voting | Repurchase Authorization 2021 |  |  |  |  |
Equity, Class of Treasury Stock |  |  |  |  |
Shares repurchased (shares) | 2,656,474 |  |  |  |
Average cost (USD per share) | $ / shares | $ 7.41 |  |  |  |
Common Stock | Repurchase Authorization 2019 |  |  |  |  |
Equity, Class of Treasury Stock |  |  |  |  |
Number of shares authorized to be repurchased (shares) |  |  |  |  | 2,000,000
Number of shares remaining to be repurchased (shares) |  | 0 |  |  |
Common Stock | Repurchase Authorization 2021 |  |  |  |  |
Equity, Class of Treasury Stock |  |  |  |  |
Number of shares authorized to be repurchased (shares) |  |  |  | 2,000,000 |
Number of shares remaining to be repurchased (shares) | 1,793,371 | 413,317 |  |  |
Class B Voting | Repurchase Authorization 2019 |  |  |  |  |
Equity, Class of Treasury Stock |  |  |  |  |
Shares repurchased (shares) |  | 111,499 |  |  |
Average cost (USD per share) | $ / shares |  | $ 8.68 |  |  |
Class B Voting | Repurchase Authorization 2021 |  |  |  |  |
Equity, Class of Treasury Stock |  |  |  |  |
Shares repurchased (shares) | 963,472 |  |  |  |
Average cost (USD per share) | $ / shares | $ 7.32 |  |  |  |

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