Equity (Details) - USD ($)					12 Months Ended
	Sep. 27, 2017	Sep. 22, 2017	Oct. 14, 2016	Oct. 11, 2016	Dec. 31, 2019	Dec. 31, 2018
Common Stock Repurchase
Repurchase of common stock authorized by Board of Directors						$ 60,000,000.0
Common stock repurchased, value					$ 3,567,000	$ 16,205,000
Weighted average price per share (in dollars per share)					$ 49.29	$ 34.36
Stock repurchase program, remaining authorized repurchase amount					$ 56,400,000
Redeemable preferred stock - shares issued (in shares)					2,500,000	2,500,000
Dividend rate (as a percent)					6.50%
Redeemable preferred stock - par value (in dollars per share)					$ 0.01	$ 0.01
Preferred stock dividends						$ (3,300,000)
Liquidation preference (in dollars per share)					20.00
Redemption price (in dollars per share)					$ 20.00
Common Stock
Common Stock Repurchase
Shares repurchased (in shares)					72,324	471,595
Common stock repurchased, value					$ 1,000	$ 5,000
Series A-1 Preferred Stock
Common Stock Repurchase
Redeemable preferred stock - shares issued (in shares)				1,000,000
Dividend rate (as a percent)				6.50%
Redeemable preferred stock - par value (in dollars per share)				$ 0.01
Purchase price (in dollars per share)				$ 20.00
Net proceeds after deducting investor fees			$ 19,800,000
Series A-2 Preferred Stock
Common Stock Repurchase
Redeemable preferred stock - shares issued (in shares)		1,500,000
Dividend rate (as a percent)		6.50%
Redeemable preferred stock - par value (in dollars per share)		$ 0.01
Purchase price (in dollars per share)		$ 20.00
Net proceeds after deducting investor fees	$ 29,700,000