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Stockholders' Equity - Common Stock Repurchase Programs (Details) - USD ($)
$ in Thousands, shares in Millions
 12 Months Ended
Dec. 31, 2022
Aug. 31, 2010
Stockholders' Equity Note [Abstract]    
Authorized amount $ 30,000 $ 30,000
Common stock retired (in shares) 1.0  
Repurchase of common stock which decreased common stock $ 10  
Repurchase of common stock which decreased additional paid-in capital 500  
Repurchase of common stock which decreased retained earnings 9,500  
Repurchase of common stock which decreased treasury stock 10,000  
Authorizations remaining $ 20,000