Shareholders' Equity and Share-Based Compensation - Narrative (Details)	1 Months Ended	12 Months Ended
	May 31, 2021 shares	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2012	May 25, 2022 USD ($)	Dec. 31, 2021 $ / shares	Sep. 30, 2015 USD ($)	Dec. 31, 1996 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares reacquired during period (in shares) | shares		196,934	670,816
Percentage of outstanding shares reacquired		0.50%	1.60%
Shares reacquired during period, value | $		$ 6,500,000	$ 24,000,000
Share price of treasury stock acquired during period (in usd per share) | $ / shares		$ 32.85	$ 35.82
Accumulated shares purchased (in shares) | shares		439,035
Average cost per share (in usd per share) | $ / shares		$ 34,490
Remaining authorized repurchase amount | $		$ 34,900,000
Treasury stock (in shares) | shares		25,911,087	25,714,153
Preferred stock, shares authorized (in shares) | shares		1,000,000	1,000,000					1,000,000
Preferred stock, par value (in usd per share) | $ / shares		$ 0.001	$ 0.001					$ 0.001
Fungible share pool, grant of full value share conversion ratio				2.5
Intrinsic value | $ / shares		0
Weighted average exercise prices of vested and exercisable options (in usd per share) | $ / shares		38.98	$ 38.60			$ 37.94
Share price (in usd per share) | $ / shares		$ 32.70
Aggregate intrinsic value of vested options | $		$ 400,000
Aggregate intrinsic value of options | $		$ 400,000
Minimum | Employee stock option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		4 years
Minimum | Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expiration period		10 years
Maximum | Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		3 years
2022 program
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Authorized repurchase amount | $					$ 50,000,000
2015 program
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Authorized repurchase amount | $							$ 50,000,000
2010 program
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Amended increase in shares reserved for issuance (in shares) | shares	2,500,000
Shares available for grant (in shares) | shares		1,067,611