Significant Accounting Policies - Schedule of Common Stock Outstanding (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Common Stock, Shares, Outstanding [Roll Forward]
Balance, beginning of year (in shares)	34,746,904	34,480,181	34,031,374
Retirement related to stock repurchase (in shares)	(5,224,016)	(124,454)	0
Issuance related to stock-based compensation (in shares)	387,551	391,177	448,807
Balance, end of year (in shares)	29,910,439	34,746,904	34,480,181