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Preferred and Common Shares and Share-based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended
Feb. 28, 2023
May 31, 2021
Mar. 31, 2023
Jul. 01, 2022
Apr. 01, 2022
Dec. 31, 2022
Feb. 29, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Preferred shares, Authorized   7,000,000.0 7,000,000     7,000,000  
Preferred shares, voting rights   one vote per share          
Preferred shares, Issued     0     0  
Preferred shares, outstanding     0     0  
Share-based compensation expense recognized     $ 6,466,000   $ 6,774,000    
Selling, General and Administrative Expenses              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation expense recognized     5,531,000   5,201,000    
Share-Based Payment Arrangement, Option              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Fair value of stock options granted     $ 3,000,000.0        
Expected annual dividend yield     0.00%        
Hybrid PSUs              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Expected annual dividend yield     0.00%        
Amended and Restated 2010 Incentive Plan | Deferred Stock Units              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of outstanding shares     41,000     38,000  
Amended and Restated 2010 Incentive Plan | Share-Based Payment Arrangement, Option              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting/Performance period 3 years            
Stock options, Granted 48,000   48,000        
Stock options, Expiration Period 7 years            
Amended and Restated 2010 Incentive Plan | Restricted Stock Units and Deferred Stock Units              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Total fair value of stock units vested     $ 13,800,000        
Amended and Restated 2010 Incentive Plan | Restricted Stock Units and Deferred Stock Units | Board of Directors | Selling, General and Administrative Expenses              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based compensation expense recognized     $ 900,000   $ 1,000,000.0    
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting/Performance period     5 years        
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Minimum [Member]              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Vesting/Performance period     0 years        
Amended and Restated 2010 Incentive Plan | Attainment-based PSUs | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Range of percentage of shares to be issued upon settlement following vesting of target number of shares     200.00%        
Amended and Restated 2010 Incentive Plan | Attainment-based PSUs | Minimum [Member]              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Range of percentage of shares to be issued upon settlement following vesting of target number of shares     0.00%        
Amended and Restated 2010 Incentive Plan | Market-based PSUs | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Range of percentage of shares to be issued upon settlement following vesting of target number of shares     200.00%        
Amended and Restated 2010 Incentive Plan | Market-based PSUs | Minimum [Member]              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Range of percentage of shares to be issued upon settlement following vesting of target number of shares     0.00%        
Amended and Restated 2010 Incentive Plan | Hybrid PSUs | Maximum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Range of percentage of shares to be issued upon settlement following vesting of target number of shares     260.00%        
Amended and Restated 2010 Incentive Plan | Hybrid PSUs | Minimum [Member]              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Range of percentage of shares to be issued upon settlement following vesting of target number of shares     0.00%        
Amended and Restated 2010 Incentive Plan | Performance Stock Units              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Total fair value of stock units vested     $ 9,900,000        
Maximum number of common shares to be earned under these PSU grants     381,000        
2020 Repurchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock repurchase program authorized amount             $ 50,000,000.0
Shares repurchased       4,000      
Repurchase of common stock       $ 500,000      
Shares repurchased, average cost per share       $ 116.95      
Available for share repurchases     $ 49,500,000