Shareholders' Equity and Share-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted Average Option Price per Share
Weighted average option price per share, beginning balance (in usd per share)	$ 39.41
Weighted average option price per share, options granted (in usd per share)	35.62
Weighted average option price per share, options vested (in usd per share)	40.56
Weighted average option price per share, options exercised (in usd per share)	28.88
Weighted average option price per share, options forfeited (in usd per share)	0
Weighted average option price per share, options expired (in usd per share)	0
Weighted average option price per share, ending balance (in usd per share)	$ 38.85	$ 39.41
Outstanding
Options outstanding, beginning balance (in shares)	1,194,352
Options outstanding, granted (in shares)	209,028	162,224	183,272
Options outstanding, vested (in shares)	0
Options outstanding, exercised (in shares)	(866)
Options outstanding, forfeited (in shares)	0
Options outstanding, expired (in shares)	0
Options outstanding, ending balance (in shares)	1,402,514	1,194,352
Vested and Exercisable
Options vested and exercisable, beginning balance (in shares)	766,444
Options vested and exercisable, granted (in shares)	0
Options vested and exercisable, vested (in shares)	176,954
Options vested and exercisable, exercisable (in shares)	(866)
Options vested and exercisable, forfeited (in shares)	0
Options vested and exercisable, expired (in shares)	0
Options vested and exercisable, ending balance (in shares)	942,532	766,444
Minimum
Range of Option Prices per Share
Range of option prices per share, beginning balance (in usd per share)	$ 28.88
Range of option prices per share, granted (in usd per share)	32.13
Range of option prices per share, vested (in usd per share)	38.99
Range of option prices per share, exercised (in usd per share)	28.88
Range of option prices per share, ending balance (in usd per share)	28.88	$ 28.88
Maximum
Range of Option Prices per Share
Range of option prices per share, beginning balance (in usd per share)	42.95
Range of option prices per share, granted (in usd per share)	35.98
Range of option prices per share, vested (in usd per share)	41.83
Range of option prices per share, exercised (in usd per share)	28.88
Range of option prices per share, ending balance (in usd per share)	$ 42.95	$ 42.95