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Summary of Significant Accounting Policies - Earnings per share (Details) - USD ($)
shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Numerator (for basic and diluted earnings per share)      
Income from continuing operations, net of tax $ 195,902 $ 115,899 $ 153,564
Less income allocated to RSUs, basic (3,662) (1,855) (3,711)
Less income allocated to RSUs, diluted (3,662) (1,855) (3,711)
Less preferred stock dividends 50,305 49,372 0
Numerator for basic earnings per share 141,935 64,672 149,853
Numerator for diluted earnings per share $ 141,935 $ 64,672 $ 149,853
Denominator      
Basic weighted-average shares outstanding 83,220 82,327 81,418
Effect of dilutive securities 4,126 5,652 413
Diluted weighted-average shares outstanding 87,346 87,979 81,831