Shareholders' Equity - Schedule of the Company's Common and Preferred Stock (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Common Stock:
Shares authorized (in shares)	100,000,000	100,000,000
Shares issued (in shares)	61,268,566	60,797,270
Shares outstanding (in shares)	61,243,626	60,794,008
Cash dividend per share (usd per share)	$ 1.60	$ 1.36
Preferred Stock:
Shares authorized (in shares)	20,000,000	20,000,000
Shares issued (in shares)	5,011,500	5,011,500
Shares outstanding (in shares)	5,011,500	5,011,500