Common Stock (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Class of Stock [Line Items]
Common stock repurchases, value	$ 6,721	$ 5,229	$ 15,550
Common Stock
Class of Stock [Line Items]
Employee stock plans (in shares)	137,911	172,261	298,565
Common Stock
Class of Stock [Line Items]
Treasury shares issued (in shares)	0	0	0
Employee stock plans (in shares)	137,000	173,000
Treasury Stock
Class of Stock [Line Items]
Common stock repurchases (in shares)	200,000	100,000	396,000
Common stock repurchases, value	$ 6,721	$ 5,229	$ 15,550
Employee stock plans (in shares)	33,000	28,000	83,000