Condensed Consolidated Balance Sheets (Parenthetical) - shares shares in Thousands	Sep. 30, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Common stock, shares authorized (in shares)	75,000	75,000
Common stock, shares issued (in shares)	42,537	41,830
Common stock, shares outstanding (in shares)	42,537	41,830
Treasury stock at cost, shares (in shares)	1,487	1,487