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Shareholders’ Equity and Stock Incentive Plans - Summary of RSU Activity (Details) - Restricted Stock Units (RSUs) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restricted Stock Units Outstanding      
Units Outstanding, Beginning of year (in shares) 815,420 943,957 661,258
Units Outstanding, Granted (in shares) 123,970 318,356 624,415
Units Outstanding, Vested (in shares) (363,450) (426,770) (308,222)
Units Outstanding, Cancelled (in shares) (28,269) (20,123) (33,494)
Units Outstanding, End of year (in shares) 547,671 815,420 943,957
Weighted Average Grant Date Fair Value      
Weighted Average Grant Date Fair Value, Beginning of year (USD per share) $ 18.17 $ 12.06 $ 16.44
Weighted Average Grant Date Fair Value, Granted (USD per share) 51.86 31.46 9.65
Weighted Average Grant Date Fair Value, Vested (USD per share) 17.78 14.20 16.06
Weighted Average Grant Date Fair Value, Cancelled (USD per share) 17.63 26.08 16.58
Weighted Average Grant Date Fair Value, End of year (USD per share) $ 26.09 $ 18.17 $ 12.06
Total Fair Value of Shares Vested $ 18,963 $ 14,203 $ 3,336