Annual report pursuant to Section 13 and 15(d)

Shareholders' Equity (Details)

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Shareholders' Equity (Details) - USD ($)
3 Months Ended 12 Months Ended
Feb. 05, 2019
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                                
Preferred stock, shares authorized (in shares)   5,000,000       5,000,000               5,000,000 5,000,000  
Preferred stock, par value (in dollars per share)   $ 0.01       $ 0.01               $ 0.01 $ 0.01  
Preferred stock, shares issued (in shares)   0       0               0 0  
Dividends per share (in dollars per share)   $ 0.24 $ 0.24 $ 0.24 $ 0.24 $ 0.24 $ 0.24 $ 0.24 $ 0.24 $ 0.21 $ 0.21 $ 0.21 $ 0.21 $ 0.96 $ 0.96 $ 0.84
Payments for repurchase of common stock                           $ 93,811,000 $ 62,771,000 $ 48,989,000
Stock Repurchase Plan 2019                                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                                
Share repurchase program, authorized shares (in shares) 5,000,000                              
Remaining shares authorized under share repurchase program (in shares)   1,349,000                       1,349,000    
Stock Repurchase Plan 2019 | Common Stock                                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                                
Repurchased shares (in shares)                           883,000 600,000  
Payments for repurchase of common stock                           $ 93,811,000 $ 62,771,000  
Treasury stock acquired, average cost per share (in dollars per share)                           $ 106.21 $ 104.53