Capital Stock - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Feb. 24, 2023	Nov. 30, 2018
Equity, Class of Treasury Stock [Line Items]
Treasury stock, common (in shares)	21,751,232	16,981,147	16,781,150
Preferred stock, shares authorized (in shares)	1,000,000
Preferred stock, par or stated value per share (in dollars per share)	$ 0.01
Preferred stock, shares outstanding (in shares)	0	0	0
Treasury stock, shares, acquired (in shares)	592,539	419,114	153,151
Treasury shares purchased at cost	$ 17,618,000
Treasury stock issued during period (in shares)	260,339	219,117	330,419
Convertible Notes due 2021
Equity, Class of Treasury Stock [Line Items]
Face amount repurchased		$ 28,300,000	$ 33,100,000
Cost of repurchase		28,100,000	29,100,000
Share repurchase program
Equity, Class of Treasury Stock [Line Items]
Treasury stock, shares, acquired (in shares)	4,437,885
Treasury shares purchased at cost	$ 17,500,000
Stock repurchase program, authorized amount					$ 100,000,000
Stock repurchase program, remaining authorized repurchase amount	6,200,000
Share repurchase program | Subsequent Event
Equity, Class of Treasury Stock [Line Items]
Stock repurchase program, authorized amount				$ 50,000,000
Restricted Stock
Equity, Class of Treasury Stock [Line Items]
Treasury shares purchased at cost	$ 2,700,000	$ 1,400,000	$ 300,000