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Equity, Other Comprehensive Income and Earnings Per Share - Equity and Noncontrolling Interest (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Nov. 15, 2022 | Nov. 30, 2021
Shareholders' Equity |  |  |  |  |
Number of shares authorized to be repurchased |  |  |  | 10,000,000.0 |
Shares repurchased (in shares) |  | 145,185 | 16,422 |  |
Cost of shares repurchased |  | $ 7,310,000 | $ 630,000 |  |
Number of shares withheld from employees to satisfy tax withholding obligations | 7,696 | 19,554 | 9,670 |  |
Share Repurchase Program 2021 |  |  |  |  |
Shareholders' Equity |  |  |  |  |
Number of shares authorized to be repurchased |  |  |  |  | 10,000,000.0
Shares repurchased (in shares) | 89,373 |  |  |  |
Cost of shares repurchased | $ 4,600,000 |  |  |  |
Share Repurchase Program 2022 |  |  |  |  |
Shareholders' Equity |  |  |  |  |
Cost of shares repurchased | 5,000,000.0 |  |  |  |
Remaining shares amount available for repurchases | $ 9,500,000 |  |  |  |

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- Definition The number of shares authorized to be repurchased by an entity's Board of Directors under a stock repurchase plan. + References No definition available. + Details
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- Definition Amount remaining of a stock repurchase plan authorized. + References No definition available. + Details
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- Definition Number of shares that have been repurchased during the period and have not been retired and are not held in treasury. Some state laws may govern the circumstances under which an entity may acquire its own stock and prescribe the accounting treatment therefore. This element is used when state law does not recognize treasury stock. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=126973232&loc=d3e21463-112644 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI https://asc.fasb.org/extlink&oid=120397183&loc=d3e187085-122770 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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