Shareholders' Equity - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Feb. 09, 2023	May 13, 2021
Equity Class Of Treasury Stock [Line Items]
Common stock repurchased, shares	583,526	266,722	342,731
Common stock repurchased, value	$ 21,447,000	$ 8,786,000	$ 8,080,000
Shares available for future purchases	$ 19,767,000
Maximum
Equity Class Of Treasury Stock [Line Items]
Treasury shares authorized to be purchased					$ 50,000,000
Maximum | Subsequent Event
Equity Class Of Treasury Stock [Line Items]
Treasury shares authorized to be purchased				$ 50,000,000