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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Jul. 21, 2023
Apr. 21, 2023
Jun. 30, 2023
Jun. 30, 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)     3,132 10,208
Amount of shares withheld for tax withholding and exercise of options     $ 86 $ 351
Shares withheld for tax withholding and exercise of options, weighted average price (in usd per share)     $ 27.57 $ 34.38
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  
Common Stock | Subsequent event        
Class of Stock [Line Items]        
Share repurchase program, amount approved to repurchase $ 25,000      
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%