Shareholders’ Equity and Stock Incentive Plans - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Stock Options Outstanding
Stock Options Outstanding, Beginning of year (in shares)	2,141,494	2,891,341	3,126,521
Stock Options Outstanding, Granted (in shares)	0	0	0
Stock Options Outstanding, Exercised (in shares)	(69,500)	(749,847)	(84,875)
Stock Options Outstanding, Cancelled (in shares)	0	0	(2,292)
Stock Options Outstanding, Expired (in shares)	0	0	(148,013)
Stock Options Outstanding, End of year (in shares)	2,071,994	2,141,494	2,891,341	3,126,521
Stock Options Outstanding, Exercisable (in shares)	2,071,994	2,141,494	2,854,813
Weighted Average Remaining Term, Outstanding	3 years 6 months	4 years 6 months	5 years 6 months	6 years 1 month 6 days
Weighted Average Remaining Term, Exercisable	3 years 6 months	4 years 6 months	5 years 6 months
Weighted-Average Exercise Price
Weighted-Average Exercise Price, Beginning of year (USD per share)	$ 11.31	$ 11.07	$ 11.61
Weighted Average Exercise Price, Granted (USD per share)	0	0	0
Weighted Average Exercise Price, Exercised (USD per share)	9.94	10.39	3.88
Weighted Average Exercise Price, Cancelled (USD per share)	0	0	13.50
Weighted Average Exercise Price, Expired (USD per share)	0	0	26.61
Weighted-Average Exercise Price, End of year (USD per share)	11.35	11.31	11.07	$ 11.61
Weighted Average Exercise Price, Exercisable (USD per share)	$ 11.35	$ 11.31	$ 11.04
Aggregate Intrinsic Value, Outstanding	$ 53,966	$ 83,992	$ 25,520
Aggregate Intrinsic Value, Exercisable	$ 53,966	$ 83,992	$ 25,286