Shareholders' Equity - Share-based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Award Plan
Unvested shares, scheduled to vest
Shares reserved for issuance (in shares)	1,084,131
Award Plans
Number of Shares
Unvested shares, beginning of year (in shares)	588,830	425,030	325,900
Shares awarded (in shares)	438,000	433,500	340,700
Shares vested (in shares)	(394,470)	(266,300)	(240,470)
Shares forfeited (in shares)	(22,400)	(3,400)	(1,100)
Unvested shares, end of year (in shares)	609,960	588,830	425,030
Weighted Average Grant Date Fair Value
Unvested shares, beginning of year (in dollars per share)	$ 8.81	$ 11.93	$ 14.71
Shares awarded (in dollars per share)	7.88	6.63	11.26
Shares vested (in dollars per share)	9.21	10.20	14.78
Shares forfeited (in dollars per share)	8.91	12.08	12.96
Unvested shares, end of year (in dollars per share)	$ 7.88	$ 8.81	$ 11.93
Unvested shares, scheduled to vest
2024 (in shares)	212,820
2025 (in shares)	181,340
2026 (in shares)	139,800
2027 (in shares)	76,000
Estimated future compensation expense	$ 4,294
Weighted average period over which the compensation expense will be recorded	23 months
Compensation expense	$ 3,417	$ 2,775	$ 2,964