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Share-Based Compensation - Performance Restricted Stock Units Activity (Details) - PRSUs - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Outstanding at beginning of period: (in shares) 371 388 333  
Granted (in shares) 282 341 189  
Performance condition adjustments, net (in shares) (305) (285) (56)  
Released (in shares) (204) (73) (78)  
Forfeited (in shares) (84) 0 0  
Outstanding at end of period: (in shares) 60 371 388  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Outstanding at beginning of period: (in dollars per share) $ 9.33 $ 9.96 $ 10.07 $ 8.84
Granted (in dollars per share) 8.50 6.55 12.59  
Performance condition adjustments, net (in dollars per share) 8.34 7.71 9.27  
Released (in dollars per share) 6.59 5.17 8.15  
Forfeited (in dollars per share) 6.95 0 0  
Outstanding at end of period: (in dollars per share) $ 9.33 $ 9.96 $ 10.07 $ 8.84