Shareholders' Equity - Summary of Common Shares Outstanding (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Roll forward of common shares outstanding
Balance at beginning of the year	31,680,890	32,178,715
Repurchases	(970,109)	(583,526)	(266,722)
Restricted stock unit issuances	113,467	85,701
Balance at end of period	30,824,248	31,680,890	32,178,715