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Shareholders' Equity - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
May 13, 2021
Equity Class Of Treasury Stock [Line Items]              
Common stock repurchased, shares 52,000 216,252 116,176 148,035 384,428 148,035  
Common stock repurchased, value $ 1,778,000 $ 7,748,000 $ 3,920,000 $ 4,939,000 $ 13,446,000 $ 4,939,000  
Shares available for future purchases $ 27,768,000       $ 27,768,000    
Antidilutive securities excluded from computation of earnings per share (shares) 393     462 950 1,029  
Maximum              
Equity Class Of Treasury Stock [Line Items]              
Treasury shares authorized to be purchased             $ 50,000,000