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Borrowing Arrangements - Narrative (Details)
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
May 06, 2020
USD ($)
May 31, 2019
USD ($)
Jun. 30, 2021
Sep. 30, 2020
USD ($)
Sep. 30, 2020
USD ($)
$ / shares
Dec. 31, 2019
USD ($)
Jun. 30, 2020
USD ($)
Sep. 30, 2019
Nov. 30, 2018
USD ($)
Debt Instrument [Line Items]                  
Debt instrument, covenant compliance         As of September 30, 2020, the Company was in compliance with its debt covenants under the Credit Agreement.        
Long-term borrowings       $ 371,300,000 $ 371,300,000 $ 369,000,000.0      
Redemptions of convertible debentures         0 0      
Approximate redemption value of convertible debentures         $ 1,100,000 1,100,000      
Interest Rate Collars                  
Debt Instrument [Line Items]                  
Interest rate collar, term   3 years              
Notional amount   $ 222,300,000              
Derivative, cap interest rate       2.50% 2.50%        
Senior Credit Facility, Net of Discount                  
Debt Instrument [Line Items]                  
Maturity Date         Nov. 30, 2023        
Long-term borrowings       $ 339,900,000 $ 339,900,000 $ 345,900,000      
Weighted average interest rate       3.80% 3.80%     3.80%  
Convertible Subordinated Debt                  
Debt Instrument [Line Items]                  
Redemption price upon stated maturity (in dollars per share) | $ / shares         $ 19.18        
Redemptions stated maturity date         Apr. 01, 2028        
Amended Credit Agreement                  
Debt Instrument [Line Items]                  
Maximum borrowing capacity                 $ 550,000,000.0
Percentage principal installments         1.25%        
Amended Credit Agreement | Forecast                  
Debt Instrument [Line Items]                  
Percentage principal installments     1.875%            
Amended Credit Agreement | Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Maximum borrowing capacity $ 370,000,000.0               325,000,000.0
Increase to borrowing capacity $ 45,000,000.0                
Line of credit facility, expiration date May 05, 2021                
Liquidity test minimum             $ 50,000,000.0    
Amended Credit Agreement | Letter of Credit Facility                  
Debt Instrument [Line Items]                  
Maximum borrowing capacity                 100,000,000.0
Amended Credit Agreement | Term Loan Facility                  
Debt Instrument [Line Items]                  
Maximum borrowing capacity                 $ 225,000,000.0
Amended Credit Agreement | Senior Credit Facility, Net of Discount                  
Debt Instrument [Line Items]                  
Fees and other closing cost $ 1,700,000                
Letters of credit outstanding       $ 52,000,000.0 $ 52,000,000.0        
Long-term borrowings       $ 343,100,000 $ 343,100,000        
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Maximum                  
Debt Instrument [Line Items]                  
Total debt to EBITDA ratio that is required to be maintained       5.50 4.25        
Credit agreement total debt to EBITDA ratio that is required to be maintained step down         4.00        
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Minimum                  
Debt Instrument [Line Items]                  
Fixed charge coverage ratio that is required to be maintained       2.75 3.50        
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Interest rate 0.375%                
Amended Credit Agreement | Senior Credit Facility, Net of Discount | LIBOR Loans                  
Debt Instrument [Line Items]                  
Period of total debt to EBITDA ratio         12 months        
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Base Rate Loans | Federal Funds                  
Debt Instrument [Line Items]                  
Interest rate margin on variable rate basis         0.50%        
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Base Rate Loans | LIBOR                  
Debt Instrument [Line Items]                  
Interest rate margin on variable rate basis 2.75%       1.00%        
Floor interest rate 1.00%       0.00%        
Senior Credit Facility | Senior Credit Facility, Net of Discount                  
Debt Instrument [Line Items]                  
Weighted average interest rate       3.60% 3.60%     3.50%