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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, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023 | Jan. 01, 2024
Shareholders' Equity |  |  |  |  |
Number of shares withheld from employees to satisfy tax withholding obligations |  |  | 9,316 | 7,765 |
Share Repurchase Program 2022 |  |  |  |  |
Shareholders' Equity |  |  |  |  |
Cost of shares repurchased |  | $ 1,310 |  | $ 5,850 |
Share Repurchase Program 2024 |  |  |  |  |
Shareholders' Equity |  |  |  |  |
Stock repurchase program, authorized amount |  |  |  |  | $ 10,000
Cost of shares repurchased | $ 3,240 |  | $ 7,270 |  |
Remaining shares amount available for repurchases | $ 2,730 |  | $ 2,730 |  |

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