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Stockholders' Equity - Incentive and Other (Details) - USD ($)
$ / shares in Units, $ in Thousands, shares in Millions
9 Months Ended 174 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Dec. 08, 2020
Mar. 29, 2007
Share Repurchase Program          
Share repurchase $ 25,531 $ 18,777      
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   10.3   1.0
Additional number of shares authorized for repurchase       0.7  
Share repurchase (in shares)     9.7    
Average price (in dollars per share) $ 73.69   $ 21.57    
Share repurchase $ 25,500        
Maximum | Stock Repurchase Program 2007          
Share Repurchase Program          
Share repurchase (in shares) 0.3