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Stockholders' Deficit - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Feb. 17, 2022
Feb. 28, 2019
Class of Stock [Line Items]            
Stock repurchased during period, value $ 26,130,000 $ 120,163,000 $ 4,480,000      
Reissuance of treasure stock (in shares) 281,161 205,293 660,718      
Reissuance of treasury stock $ 3,812,000 $ 241,000 $ 25,337,000      
Treasury Stock            
Class of Stock [Line Items]            
Stock repurchased during period (in shares) 446,189 1,737,697 59,099      
Stock repurchased during period, value $ 26,017,000 $ 120,163,000 $ 4,480,000      
Reissuance of treasure stock (in shares) 281,161 205,293 660,718      
Reissuance of treasury stock $ 13,454,000 $ 9,619,000 $ 26,795,000      
2019 Repurchase Program            
Class of Stock [Line Items]            
Authorized amount           $ 200,000,000
Stock repurchased during period (in shares)   588,108 59,099 459,899    
Stock repurchased during period, value   $ 41,400,000 $ 4,500,000 $ 26,500,000    
2022 Repurchase Program            
Class of Stock [Line Items]            
Authorized amount         $ 250,000,000  
Stock repurchased during period (in shares) 446,189 1,149,589        
Stock repurchased during period, value $ 26,100,000 $ 78,700,000