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Stock-Based Compensation - Stock Options (Details) - USD ($)
 1 Months Ended 12 Months Ended
Dec. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation costs   $ 5,603,000 $ 4,923,000 $ 7,585,000  
Tax benefit from compensation expense   $ 1,330,000 $ 1,148,000 $ 1,767,000  
Share based award vesting period   5 years      
Class A Non-Voting          
Summary of Option Activity, Shares          
Outstanding beginning balance (in shares)   1,542,000 1,618,000 1,896,000  
Granted (in shares)   0 0 0  
Exercised (in shares)   (485,000) 0 0  
Forfeited or expired (in shares)   (15,000) (76,000) (278,000)  
Outstanding ending balance (in shares) 1,542,000 1,042,000 1,542,000 1,618,000 1,896,000
Exercisable at end of period (in shares)   1,042,000      
Summary of Option Activity, Weighted-Average Exercise Price          
Outstanding beginning balance, weighted-average exercise price (in usd per share)   $ 8.98 $ 8.99 $ 9.01  
Granted, weighted-average exercise price (in usd per share)   0 0 0  
Exercised, weighted-average exercise price (in usd per share)   8.84 0 0  
Forfeited or expired, weighted-average exercise price (in usd per share)   9.01 9.16 8.90  
Outstanding ending balance, weighted-average exercise price (in usd per share) $ 8.98 9.05 $ 8.98 $ 8.99 $ 9.01
Exercisable at end of period, weighted-average exercise price (in usd per share)   $ 9.05      
Summary of Option Activity, Weighted-Average Remaining Contractual Term          
Outstanding, weighted-average remaining contractual term   4 years 8 months 12 days 5 years 6 months 6 years 6 months 7 years 4 months 24 days
Weighted- Average Remaining Contractual Term   4 years 8 months 12 days      
Outstanding, aggregate intrinsic value $ 7,000 $ 4,305,000 $ 7,000 $ 143,000 $ 114,000
Exercisable at end of period, aggregate intrinsic value   $ 4,305,000      
2021 Performance Based Grants          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock option vesting per year (percent) 0.00%        
2022 Performance Based Grants          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock option vesting per year (percent) 30.00%        
Employee Stock Option | Class A Non-Voting          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share based award vesting period   3 years      
Stock option vesting per year (percent)   33.00%      
Stock options expiration period   10 years      
Share-based compensation expense   $ 12,000 $ 129,000 $ 375,000  
Summary of Option Activity, Shares          
Granted (in shares)   0 0 0  
Exercised (in shares)   (485,000) 0 0  
Summary of Option Activity, Weighted-Average Remaining Contractual Term          
Options, exercised in period, intrinsic value   $ 425,000 $ 0 $ 31,000  
Options, vested in period, fair value   228,000 $ 592,000 $ 860,000  
Unearned compensation cost   $ 0