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Share-Based Compensation - Long-term Incentive Plans (Details)
12 Months Ended
May 19, 2020
shares
Dec. 31, 2023
plan
shares
Dec. 31, 2022
shares
May 23, 2022
shares
Dec. 31, 2021
shares
Dec. 31, 2020
shares
Share-based compensation            
Number of employee stock ownership plans | plan   2        
Stock options outstanding (in shares)   250,000 0   5,000 5,000
2009 Plan            
Share-based compensation            
Number of awards authorized for grants (in shares)   0        
2016 Plan            
Share-based compensation            
Number of awards authorized for grants (in shares)       4,900,000    
Increase in number of shares authorized for grant (in shares) 1,200,000          
Number of awards available for future grants (in shares)   1,400,000