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Equity, Other Comprehensive Income (Loss) and Earnings Per Share - Equity and Noncontrolling Interest (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Jan. 01, 2024
Shareholders' Equity          
Number of shares withheld from employees to satisfy tax withholding obligations     9,316 7,765  
Share Repurchase Program 2022          
Shareholders' Equity          
Cost of shares repurchased   $ 1,310   $ 5,850  
Share Repurchase Program 2024          
Shareholders' Equity          
Stock repurchase program, authorized amount         $ 10,000
Cost of shares repurchased $ 3,240   $ 7,270    
Remaining shares amount available for repurchases $ 2,730   $ 2,730