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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Apr. 21, 2023
Jan. 20, 2023
Mar. 31, 2023
Mar. 31, 2022
Class of Stock [Line Items]        
Dividends declared per common share (in usd per share)   $ 0.25    
Shares withheld for tax withholding and exercise of options (in shares)     2,847 8,003
Amount of shares withheld for tax withholding and exercise of options     $ 82 $ 278
Shares withheld for tax withholding and exercise of options, weighted average price (in usd per share)     $ 28.74 $ 34.76
Subsequent event        
Class of Stock [Line Items]        
Dividends declared per common share (in usd per share) $ 0.25      
Common Stock        
Class of Stock [Line Items]        
Share repurchase program, amount outstanding     $ 34,700  
Stock repurchased, including commissions (in shares)     0 23,275
Cumulative stock repurchased (in shares)     618,991  
Stock repurchased during period (in usd per share)     $ 36.04  
Performance-based stock awards        
Class of Stock [Line Items]        
Vesting period of performance-based stock awards     3 years  
Performance-based stock awards | Minimum        
Class of Stock [Line Items]        
Vesting percentage of performance-based awards     0.00%  
Performance-based stock awards | Maximum        
Class of Stock [Line Items]        
Vesting percentage of performance-based awards     200.00%