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Stock Repurchase Plan - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Feb. 22, 2022
Feb. 26, 2019
Equity, Class of Treasury Stock [Line Items]          
Stock repurchased authorized amount       $ 100,000  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period 250,176        
Vested (in dollars per share) $ 23.42        
Stock repurchased and canceled   $ (20,807) $ (24,191)    
2019 Stock Repurchase Program          
Equity, Class of Treasury Stock [Line Items]          
Stock repurchased authorized amount         $ 100,000
Stock repurchased and canceled (in shares) 0 888,197 1,109,187    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period 46,172        
Vested (in dollars per share) $ 23.7        
Average price per share   $ 23.41 $ 21.79    
Stock repurchased and canceled   $ 20,800 $ 24,200