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Debt - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 15, 2021
May 23, 2016
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Line of Credit Facility          
Line of credit maximum borrowing amount     $ 400,000,000 $ 400,000,000  
Debt amortization expense     $ 194,000 $ 194,000 $ 169,000
Revolving Credit Facility Due 2024          
Line of Credit Facility          
Line of credit maximum borrowing amount $ 400,000,000 $ 300,000,000      
Line of credit facility contingent increase to maximum borrowing capacity $ 200,000,000        
Maturity date Dec. 15, 2026 Feb. 12, 2024      
Revolving Credit Facility Due 2024 | Minimum          
Line of Credit Facility          
Commitment fee percentage per annum 0.175%        
Revolving Credit Facility Due 2024 | Maximum          
Line of Credit Facility          
Commitment fee percentage per annum 0.25%        
Revolving Credit Facility | Minimum          
Line of Credit Facility          
Contractual rate     1.49%    
Revolving Credit Facility | Maximum          
Line of Credit Facility          
Contractual rate     2.49%    
Revolving Credit Facility | SOFR | Minimum          
Line of Credit Facility          
Interest rate     0.00%    
Revolving Credit Facility | U S Dollar Denominated Debt | SOFR | Minimum          
Line of Credit Facility          
Interest rate plus an applicable margin     1.00%    
Revolving Credit Facility | U S Dollar Denominated Debt | SOFR | Maximum          
Line of Credit Facility          
Interest rate plus an applicable margin     1.75%    
Revolving Credit Facility | Foreign Currency Denominated Debt | SOFR | Minimum          
Line of Credit Facility          
Interest rate plus an applicable margin     1.00%    
Revolving Credit Facility | Foreign Currency Denominated Debt | SOFR | Maximum          
Line of Credit Facility          
Interest rate plus an applicable margin     1.75%    
Revolving Credit Facility Due 2024 Swingline Sublimit          
Line of Credit Facility          
Line of credit maximum borrowing amount $ 20,000,000        
Revolving Credit Facility Due 2024 Letter Of Credit Sublimit          
Line of Credit Facility          
Line of credit maximum borrowing amount $ 20,000,000        
Line of Credit | Revolving Credit Facility Due 2024          
Line of Credit Facility          
Debt instrument, term 5 years