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Equity, Other Comprehensive Income (Loss) and Earnings Per Share - Equity and Noncontrolling Interest (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 01, 2022
Shareholders' Equity      
Shares repurchased (in shares) 9,717    
Cost of shares repurchased   $ 493  
Number of shares withheld from employees to satisfy tax withholding obligations 6,257 4,434  
Share Repurchase Program 2022      
Shareholders' Equity      
Number of shares authorized to be repurchased     10,000,000.0
Cost of shares repurchased $ 2,060    
Remaining shares amount available for repurchases $ 7,480