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Equity, Other Comprehensive Income (Loss) and Earnings Per Share - Equity and Noncontrolling Interest (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 01, 2022
Shareholders' Equity          
Shares repurchased (in shares)   22,164   31,881  
Cost of shares repurchased   $ 1,120   $ 1,610  
Number of shares withheld from employees to satisfy tax withholding obligations     6,352 4,503  
Share Repurchase Program 2022          
Shareholders' Equity          
Stock repurchase program, authorized amount         $ 10,000
Cost of shares repurchased $ 2,480   $ 4,540    
Remaining shares amount available for repurchases $ 5,000   $ 5,000