Capital Stock and Equity Awards - Summary of Share Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stockholders' Equity Note [Abstract]
Share based compensation expense	$ 2,316	$ 2,196	$ 5,008	$ 3,982
U.S. tax benefit on share based compensation expense	$ 427	$ 409	$ 943	$ 745