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Capital Stock and Share-Based Compensation Plans - Schedule of stock compensation costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]      
Share-based compensation, net of tax $ 16,355 $ 17,047 $ 10,694
Discontinued Operations      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]      
Total share-based compensation 0 0 492
Continuing Operations      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]      
Total share-based compensation 21,596 22,334 14,015
Restricted stock units      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]      
Total share-based compensation $ 21,596 $ 22,334 $ 14,507