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Schedule II Condensed Financial Information of Registrant - Condensed Balance Sheet (Additional Information) (Details) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 1996
Condensed Financial Statements, Captions [Line Items]        
Preferred stock, par value (in usd per share) $ 0.001 $ 0.001   $ 0.001
Preferred stock, shares authorized (in shares) 1,000,000 1,000,000   1,000,000
Preferred stock, shares issued (in shares) 0 0    
Common stock, par value (in usd per share) $ 0.001 $ 0.001 $ 0.001  
Common stock, shares authorized (in shares) 75,000,000 75,000,000    
Common stock, shares issued (in shares) 66,618,465 66,436,821    
Treasury stock (in shares) 25,714,153 25,043,337    
Parent company        
Condensed Financial Statements, Captions [Line Items]        
Preferred stock, par value (in usd per share) $ 0.001 $ 0.001    
Preferred stock, shares authorized (in shares) 1,000,000 1,000,000    
Preferred stock, shares issued (in shares) 0 0    
Common stock, par value (in usd per share) $ 0.001 $ 0.001    
Common stock, shares authorized (in shares) 75,000,000 75,000,000    
Common stock, shares issued (in shares) 66,618,465 75,000,000    
Treasury stock (in shares) 25,714,153 24,043,337