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Shareholders' Equity and Share-Based Compensation Share-based Compensation (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Share-based incentive plan, number of shares authorized for issuance 2,300,000   2,300,000    
Number of shares available for grant (in shares) 1,097,453   1,097,453    
Accrued dividends payable $ 9,440   $ 9,440   $ 9,103
Share-based compensation expense $ 1,129 $ 1,026 $ 2,140 $ 1,873  
Restricted Stock [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Rollforward]          
Awards outstanding, beginning of period (in shares)     133,951 197,804  
Granted (in shares)     74,017 71,216  
Vested (in shares)     (36,573) (116,234)  
Awards outstanding, end of period (in shares) 171,395 152,786 171,395 152,786  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Awards outstanding, beginning of period (in dollars per share)     $ 15.22 $ 15.27  
Granted (in dollars per share)     11.27 15.60  
Vested (in dollars per share)     16.75 15.78  
Awards outstanding, end of period (in dollars per share) $ 13.19 $ 15.04 $ 13.19 $ 15.04  
Restricted Stock Units (RSUs) [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Rollforward]          
Awards outstanding, beginning of period (in shares)     86,666 55,019  
Granted (in shares)     106,850 73,767  
Vested (in shares)     (33,213) (18,157)  
Awards outstanding, end of period (in shares) 160,303 110,629 160,303 110,629  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Awards outstanding, beginning of period (in dollars per share)     $ 16.57 $ 19.40  
Granted (in dollars per share)     11.97 15.19  
Vested (in dollars per share)     16.96 19.40  
Awards outstanding, end of period (in dollars per share) $ 13.42 $ 16.59 $ 13.42 $ 16.59  
Accrued dividends payable $ 190   $ 190   152
Performance Shares [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Rollforward]          
Awards outstanding, beginning of period (in shares)     201,284 110,040  
Granted (in shares)     160,277 147,542  
Vested (in shares)     0 0  
Awards outstanding, end of period (in shares) 361,561 257,582 361,561 257,582  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Awards outstanding, beginning of period (in dollars per share)     $ 16.60 $ 19.40  
Granted (in dollars per share)     11.97 15.19  
Vested (in dollars per share)     0 0  
Awards outstanding, end of period (in dollars per share) $ 16.60 $ 16.99 $ 16.60 $ 16.99  
Accrued dividends payable $ 579   $ 579   $ 354