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Common and Preferred Stock - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Aug. 05, 2020
Dec. 31, 2022
Dec. 31, 2020
Dec. 31, 2021
Feb. 07, 2019
Class Of Stock [Line Items]          
Junior participating preferred Stock, Authorized   2,000,000      
Junior participating preferred Stock, Outstanding   0      
Preferred Stock, Shares Authorized   5,000,000      
Preferred Stock, Shares Outstanding   141,827      
Common Stock Repurchases (Textual) [Abstract]          
Authorized repurchase of additional shares         500,000
Repurchased shares     53,784    
Shares remain available for repurchase   546,283      
Common stock purchased for treasury     $ 2.8    
Convertible Series A Preferred Stock          
Class Of Stock [Line Items]          
Preferred Stock, Redemption Amount   $ 141.8   $ 141.8  
Dividends share-based compensation cash   $ 7.8      
Preferred stock dividend rate percentage 5.50%        
Frequency of periodic payment of cumulative dividend quarterly        
Convertible preferred stock conversion price per share $ 21.25        
Crestview Partners | Convertible Series A Preferred Stock          
Class Of Stock [Line Items]          
Effect on future earnings offset amount $ 135.0        
Convertible Preferred Stock, Shares Issued upon Conversion 135,000        
Preferred Stock, Par value $ 0.01        
Purchase price $ 135.0        
Shares issued, price per share $ 1,000        
Capital raising expense $ 9.2