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Debt - Credit Agreement (Details Textual) - USD ($)
3 Months Ended 12 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Debt Instrument [Line Items]      
Principal repayments $ 2,813,000 $ 1,875,000  
2018 Credit Agreement | Minimum      
Debt Instrument [Line Items]      
Line of credit facility, unused capacity, commitment fee percentage 0.20%    
2018 Credit Agreement | Maximum      
Debt Instrument [Line Items]      
Line of credit facility, unused capacity, commitment fee percentage 0.375%    
2018 Credit Agreement | London Interbank Offered Rate (LIBOR) | Minimum      
Debt Instrument [Line Items]      
Basis spread on term loan 1.50%    
2018 Credit Agreement | London Interbank Offered Rate (LIBOR) | Maximum      
Debt Instrument [Line Items]      
Basis spread on term loan 2.50%    
2018 Credit Agreement | Base Rate | Minimum      
Debt Instrument [Line Items]      
Basis spread on term loan 0.50%    
2018 Credit Agreement | Base Rate | Maximum      
Debt Instrument [Line Items]      
Basis spread on term loan 1.50%    
2018 Credit Agreement | Revolving Loan      
Debt Instrument [Line Items]      
Amount available under credit facility $ 200,000,000    
Credit facility term 5 years    
Line of credit facility, unused capacity, commitment fee percentage 0.20%    
Credit facility, outstanding borrowings $ 0    
Credit facility, current borrowing capacity 200,000,000.0    
2018 Credit Agreement | 2018 Term Loan      
Debt Instrument [Line Items]      
Principal repayments 2,800,000    
Term loan aggregate principal amount $ 150,000,000    
Term loan period 5 years    
Term loan combined interest rate 1.70%   1.75%
Basis spread on term loan 1.50%