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Borrowing Arrangements - Narrative (Details)
1 Months Ended 3 Months Ended 12 Months Ended
Mar. 31, 2021
USD ($)
May 06, 2020
USD ($)
May 31, 2019
USD ($)
Sep. 30, 2021
Jun. 30, 2021
USD ($)
Jun. 30, 2020
Dec. 31, 2020
USD ($)
$ / shares
Dec. 31, 2019
USD ($)
Feb. 16, 2021
USD ($)
Debt Instrument [Line Items]                  
Debt instrument, covenant compliance             As of December 31, 2020, the Company was in compliance with its debt covenants under the Amended Credit Agreement.    
Long-term borrowings             $ 362,100,000 $ 369,000,000.0  
Notional amount             222,300,000    
Redemptions of convertible debentures             0 0  
Approximate redemption value of convertible debentures             1,100,000 $ 1,100,000  
Interest Rate Contract                  
Debt Instrument [Line Items]                  
Interest rate collar, term     3 years            
Notional amount     $ 222,300,000            
Derivative, cap interest rate               2.50%  
Liability             3,100,000 $ 600,000  
Interest paid             $ 1,600,000    
Senior Credit Facility, Net of Discount                  
Debt Instrument [Line Items]                  
Maturity Date             Nov. 30, 2023    
Long-term borrowings             $ 332,300,000 $ 347,500,000  
Weighted average interest rate             3.60% 3.40%  
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   $ 595,000,000.0              
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              
Amended Credit Agreement | Revolving Credit Facility | Forecast                  
Debt Instrument [Line Items]                  
Liquidity test minimum $ 40,000,000.0       $ 40,000,000.0        
Amended Credit Agreement | Revolving Credit Facility | Subsequent Event                  
Debt Instrument [Line Items]                  
Maximum borrowing capacity                 $ 325,000,000.0
Decrease to borrowing capacity                 45,000,000.0
Additional liquidity test minimum                 $ 40,000,000.0
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         $ 1,200,000    
Letters Of Credit Outstanding Amount             49,000,000.0    
Long-term borrowings             $ 333,200,000    
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      
Credit agreement total debt to EBITDA ratio that is required to be maintained step down             4.75    
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Minimum                  
Debt Instrument [Line Items]                  
Total debt to EBITDA ratio that is required to be maintained           3.50      
Fixed charge coverage ratio that is required to be maintained           3.50      
Total debt to EBITDA ratio that is required to be maintained             2.50    
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Forecast | Maximum                  
Debt Instrument [Line Items]                  
Total debt to EBITDA ratio that is required to be maintained       5.25          
Amended Credit Agreement | Senior Credit Facility, Net of Discount | Forecast | Minimum                  
Debt Instrument [Line Items]                  
Fixed coverage ratio that is required to be maintained 1.60                
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 | L I B O R 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%    
Floor interest rate             1.00%    
Senior Credit Facility | Senior Credit Facility, Net of Discount                  
Debt Instrument [Line Items]                  
Weighted average interest rate             3.80% 3.60%