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Equity, Other Comprehensive Income (Loss) and Earnings Per Share - Equity and Noncontrolling Interest (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 01, 2021
Shareholders' Equity          
Number of shares withheld from employees to satisfy tax withholding obligations     4,503 7,596  
Share Repurchase Program 2021          
Shareholders' Equity          
Number of shares authorized to be repurchased         10,000,000.0
Shares repurchased (in shares) 34,262 52,619 66,143 142,874  
Cost of shares repurchased $ 1,690 $ 2,720 $ 3,300 $ 7,190