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Stockholders' Equity - Restricted Stock Plan (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock award, issued during period (in shares) 988,180      
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized (in shares)       5,000,000
Limitation on single participant (in shares) (no more than)       750,000
Restricted stock award, not yet vested (in shares) 221,622 184,190 184,190 405,299
Unrecognized compensation expense       $ 2.1
Unrecognized compensation expense, recognition weighted average period 1 year 9 months 18 days      
Number of Shares        
Nonvested restricted shares outstanding at beginning of year (in shares) 221,622 184,190 283,338  
Granted (in shares) 339,454 155,982 142,475  
Forfeited (in shares) (36,749) (8,869) (12,858)  
Vested (in shares) (119,028) (109,681) (228,765)  
Nonvested restricted shares outstanding at end of year (in shares) 405,299 221,622 184,190  
Weighted Average Fair Value at Date of Grant        
Nonvested restricted shares outstanding at beginning of year (in dollars per share) $ 37.08 $ 40.33 $ 37.26  
Granted (in dollars per share) 34.27 35.62 39.58  
Forfeited (in dollars per share) 33.98 41.34 40.06  
Vested (in dollars per share) 37.15 40.12 35.86  
Nonvested restricted shares outstanding at end of year (in dollars per share) $ 34.96 $ 37.08 $ 40.33  
Nonvested restricted shares granted (in shares) 339,454 155,982 142,475  
Restricted Stock Performance Plan | Award Opportunity 2020-2021        
Number of Shares        
Granted (in shares) 266,221      
Weighted Average Fair Value at Date of Grant        
Compensation expense $ 3.9      
Nonvested restricted shares granted (in shares) 266,221      
Restricted Stock Performance Plan | Award Opportunity 2019-2020        
Number of Shares        
Granted (in shares)   331,150    
Weighted Average Fair Value at Date of Grant        
Compensation expense $ 4.2 $ 5.6    
Nonvested restricted shares granted (in shares)   331,150    
Restricted Stock Performance Plan | Award Opportunity 2018-2019        
Number of Shares        
Granted (in shares)     91,396  
Weighted Average Fair Value at Date of Grant        
Compensation expense   $ 2.2 $ 2.0  
Nonvested restricted shares granted (in shares)     91,396  
Restricted Stock Performance Plan | Award Opportunity 2017-2018        
Weighted Average Fair Value at Date of Grant        
Compensation expense     $ 2.2