Shareholders' Equity - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Feb. 02, 2024	Feb. 09, 2023
Equity Class Of Treasury Stock [Line Items]
Common stock repurchased, shares	970,109	583,526	266,722
Common stock repurchased, value	$ 41,285,000	$ 21,447,000	$ 8,786,000
Common stock repurchased, value	$ 41,337,000
May 2021 Program
Equity Class Of Treasury Stock [Line Items]
Common stock repurchased, shares	96,401
Common stock repurchased, value	$ 4,245,000
February 2023 Program
Equity Class Of Treasury Stock [Line Items]
Shares available for future purchases	12,908,000
Accrued Expenses and Other Liabilities
Equity Class Of Treasury Stock [Line Items]
Accrued repurchase	$ 359,000
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				$ 100,000,000