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Stockholders' Equity - Incentive and Other (Details) - USD ($)
$ / shares in Units, $ in Thousands, shares in Millions
12 Months Ended 165 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2020
Dec. 08, 2020
May 31, 2017
May 31, 2012
Mar. 29, 2007
Share Repurchase Program                
Share repurchase $ 30,120 $ 19,550 $ 28,533          
2012 Equity Incentive Plan                
Stockholders' Equity                
Number of shares authorized and reserved for issuance             5.1  
Number of shares available for issuance 2.9     2.9        
2017 Omnibus Incentive Plan                
Stockholders' Equity                
Number of shares authorized and reserved for issuance           2.9    
Number of shares available for issuance 2.0     2.0        
Stock Repurchase Program 2007                
Share Repurchase Program                
Number of shares of outstanding common stock authorized to be acquired under a stock repurchase program         10.3     1.0
Additional number of shares authorized for repurchase         0.7      
Share repurchase (in shares) 0.7     9.3        
Average price (in dollars per share) $ 43.99     $ 19.63        
Repurchased carrying basis $ 30,100     $ 30,100