Shareholders' Equity - Summary of Common Shares Outstanding (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Roll forward of common shares outstanding
Balance at beginning of the year	32,178,715	32,276,787
Repurchases	(583,526)	(266,722)	(342,731)
Restricted stock unit issuances	85,701	168,650
Balance at end of period	31,680,890	32,178,715	32,276,787