Stockholders' Equity - Summary of Restricted Stock Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restricted Stock Awards
Shares
Non vested balance, beginning of period (in shares)	760
Granted (in shares)	464
Vested (in shares)	(336)
Forfeited (in shares)	(94)
Non vested balance, end of period (in shares)	794	760
Weighted- Average Grant Date Fair Value
Non vested balance, beginning of period (USD per share)	$ 17.19
Granted (USD per share)	15.27	$ 16.38	$ 16.97
Vested (USD per share)	17.01
Forfeited (USD per share)	16.49
Non vested balance, end of period (USD per share)	$ 16.24	$ 17.19
Options vested in period, fair value	$ 5,718	$ 4,370	$ 3,787
Performance Restricted Stock Units
Shares
Non vested balance, beginning of period (in shares)	158
Granted (in shares)	50
Vested (in shares)	(70)
Forfeited (in shares)	(25)
Non vested balance, end of period (in shares)	113	158
Weighted- Average Grant Date Fair Value
Non vested balance, beginning of period (USD per share)	$ 17.61
Granted (USD per share)	14.91	$ 16.52	$ 19.73
Vested (USD per share)	17.31
Forfeited (USD per share)	16.81
Non vested balance, end of period (USD per share)	$ 16.78	$ 17.61
Fair value of performance restricted stock units vested	$ 1,343	$ 940	$ 783

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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-Publisher FASB
-Name Accounting Standards Codification
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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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Aggregate value of stock related to Restricted Stock Awards issued during the period.

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