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Earnings Per Share - Summary of Weighted Average Number of Common Shares Outstanding (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Denominator:      
Basic weighted average shares outstanding 29,991 32,131 43,835
Effect of dilutive stock options and restricted stock 156 106 123
Diluted weighted average shares outstanding 30,147 32,237 43,958