Shareholders' Equity - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Feb. 02, 2024	Dec. 31, 2023	Feb. 09, 2023
Equity Class Of Treasury Stock [Line Items]
Common stock repurchased, shares	271,939	198,271
Common stock repurchased, value	$ 12,078,000	$ 8,802,000
Accrued repurchase	436,000			$ 359,000
Shares available for future purchases	$ 92,369,000
Antidilutive securities excluded from computation of earnings per share (shares)	30,030	37,676
Maximum
Equity Class Of Treasury Stock [Line Items]
Treasury shares authorized to be purchased			$ 100,000,000		$ 50,000,000