Summary of Significant Accounting Policies - Reconciliation of the Basic and Diluted EPS Denominators (Details) - shares shares in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of the basic and diluted EPS denominators
Basic weighted-average common shares	29,938	31,028	31,776
Dilutive effect of restricted common stock	177	270	234
Diluted weighted-average common shares	30,115	31,298	32,010

Additional shares included in the calculation of diluted EPS as a result of the potentially dilutive effect of share based payment arrangements using the treasury stock method.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480454/718-10-45-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
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Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
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Reference 4: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
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Reference 5: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
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The average number of shares or units issued and outstanding that are used in calculating diluted EPS or earnings per unit (EPU), determined based on the timing of issuance of shares or units in the period.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
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-Name Accounting Standards Codification
-Section 50
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
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Number of [basic] shares or units, after adjustment for contingently issuable shares or units and other shares or units not deemed outstanding, determined by relating the portion of time within a reporting period that common shares or units have been outstanding to the total time in that period.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
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-Name Accounting Standards Codification
-Section 50
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-URI https://asc.fasb.org//1943274/2147482662/260-10-50-1

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