Borrowings - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Interest Expense, Debt	$ 7,800	$ 9,300	$ 10,300
Revolving credit agreement
Debt Instrument [Line Items]
Total borrowings	$ 0	0
Commitment fee percentage	0.15%
Debt Issuance Costs, Gross	$ 1,100
Line of Credit Facility, Maximum Borrowing Capacity	$ 100,000
Revolving credit agreement | Minimum
Debt Instrument [Line Items]
Commitment fee percentage	0.15%
Revolving credit agreement | Maximum
Debt Instrument [Line Items]
Commitment fee percentage	0.45%
Revolving credit agreement | Federal funds effective rate
Debt Instrument [Line Items]
Spread on variable rate	0.50%
Revolving credit agreement | Margin based on leverage ratio | Minimum
Debt Instrument [Line Items]
Spread on variable rate	0.25%
Revolving credit agreement | Margin based on leverage ratio | Maximum
Debt Instrument [Line Items]
Spread on variable rate	1.25%
Revolving credit agreement | adjusted Term SOFR plus applicable margin | Minimum
Debt Instrument [Line Items]
Spread on variable rate	1.25%
Revolving credit agreement | adjusted Term SOFR plus applicable margin | Maximum
Debt Instrument [Line Items]
Spread on variable rate	2.25%
Revolving credit agreement | adjusted Term SOFR for a one-month interest period
Debt Instrument [Line Items]
Spread on variable rate	1.00%
Senior notes | Series F
Debt Instrument [Line Items]
Interest Rate Per Annum	3.10%
Total borrowings	$ 90,000	$ 90,000
Debt Issuance Costs, Gross	600
Level 2 | Recurring
Debt Instrument [Line Items]
Borrowings	$ 184,400