Shareholders' Equity - Schedule of Shares Granted and Vested (Details) - Share Award Plans - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Unvested shares at the beginning of the year (in shares)	845,620	434,550	227,340
Shares awarded (in shares)	847,000	838,000	420,000
Shares vested/forfeited (in shares)	(576,620)	(426,930)	(212,790)
Unvested shares at the end of the year (in shares)	1,116,000	845,620	434,550
Weighted Average Award Date Fair Value
Unvested shares at the beginning of the year (in dollars per share)	$ 4.07	$ 6.15	$ 12.52
Shares awarded (in dollars per share)	1.44	3.45	3.65
Shares vested/forfeited (in dollars per share)	3.24	4.98	7.04
Unvested shares at the end of the year (in dollars per share)	$ 2.50	$ 4.07	$ 6.15