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Shareholders' Equity and Share-Based Compensation Share-based Compensation (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 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) 863,259   863,259    
Accrued dividends payable $ 9,972   $ 9,972   $ 9,103
Share-based compensation expense $ 1,460 $ 2,158 $ 3,600 $ 4,031  
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) (135,069)  
Awards outstanding, end of period (in shares) 171,395 133,951 171,395 133,951  
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 15.49  
Awards outstanding, end of period (in dollars per share) $ 13.19 $ 15.22 $ 13.19 $ 15.22  
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)     341,044 73,767  
Vested (in shares)     (33,213) (42,120)  
Awards outstanding, end of period (in shares) 394,497 86,666 394,497 86,666  
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)     12.55 15.19  
Vested (in dollars per share)     16.96 17.85  
Awards outstanding, end of period (in dollars per share) $ 13.06 $ 16.57 $ 13.06 $ 16.57  
Accrued dividends payable $ 283   $ 283   152
Restricted Stock Units (RSUs) [Member] | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Nonvested awards expected to settle on their vesting date (percent) 0.00%   0.00%    
Restricted Stock Units (RSUs) [Member] | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Nonvested awards expected to settle on their vesting date (percent) 100.00%   100.00%    
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 (56,298)  
Awards outstanding, end of period (in shares) 361,561 201,284 361,561 201,284  
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 17.09  
Awards outstanding, end of period (in dollars per share) $ 14.55 $ 16.96 $ 14.55 $ 16.96  
Nonvested awards expected to settle on their vesting date (percent) 72.00%   72.00%    
Accrued dividends payable $ 713   $ 713   $ 354
Performance Shares [Member] | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Nonvested awards expected to settle on their vesting date (percent) 0.00%   0.00%    
Performance Shares [Member] | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]          
Nonvested awards expected to settle on their vesting date (percent) 200.00%   200.00%