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Capital Stock - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Feb. 23, 2024
Feb. 28, 2023
Dec. 31, 2020
Equity, Class of Treasury Stock [Line Items]            
Treasury stock, common (in shares) 26,471,738 21,751,232 16,981,147     16,781,000
Treasury shares purchased at cost $ 32,185,000 $ 17,618,000        
Treasury stock, shares, acquired (in shares) 6,523,000 4,438,000 0      
Preferred stock, shares authorized (in shares) 1,000,000          
Preferred stock, par or stated value per share (in dollars per share) $ 0.01          
Preferred stock, shares outstanding (in shares) 0 0 0      
Share repurchase program            
Equity, Class of Treasury Stock [Line Items]            
Treasury shares purchased at cost $ 31,900,000 $ 17,500,000        
Stock repurchase program, authorized amount         $ 50,000,000  
Treasury stock, shares, acquired (in shares) 6,522,797 4,437,885        
Stock repurchase program, remaining authorized repurchase amount $ 18,100,000          
Share repurchase program | Subsequent Event            
Equity, Class of Treasury Stock [Line Items]            
Stock repurchase program, authorized amount       $ 50,000,000    
Restricted Stock            
Equity, Class of Treasury Stock [Line Items]            
Treasury shares purchased at cost $ 2,200,000 $ 2,700,000 $ 1,400,000