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Stockholders' Equity - Stock Repurchase Program (Details) - $ / shares
3 Months Ended 9 Months Ended 43 Months Ended
Mar. 12, 2020
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Mar. 16, 2020
Repurchases Shares Related to Withholding Taxes on the Vesting of Restricted Stock Units              
Stockholders Equity (Textual) [Abstract]              
Twelfth Stock Repurchase Plan, Common Stock, Repurchased Shares (in shares)   335 100 31,567 26,280    
Twelfth Stock Repurchase Plan, Common Stock, Average Price per Share, Withholding Taxes (in usd per share)   $ 17.26 $ 26.94 $ 22.03 $ 25.40    
Twelfth Stock Repurchase Plan              
Stockholders Equity (Textual) [Abstract]              
Outstanding Share Percent Authorized for Repurchase 5.00%            
Twelfth Stock Repurchase Plan, Common Stock, Shares Authorized (in shares)             1,799,054
Twelfth Stock Repurchase Plan, Common Stock, Remaining Shares (in shares)   307,790   307,790   307,790  
Twelfth Stock Repurchase Plan, Common Stock, Repurchased Shares (in shares)   148,119 0 330,424 100,090 1,491,264  
Twelfth Stock Repurchase Plan, Common Stock, Average Price per Share, Withholding Taxes (in usd per share)   $ 17.08 $ 0 $ 18.82 $ 25.07 $ 22.80