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Stock-based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Maximum percentage of common stock outstanding allowed for awards 10.00%      
Number of shares outstanding which vested (in shares) 1,228,399 3,832,424 4,122,910 4,512,952
Fair value of vested options $ 1.2 $ 0.6 $ 0.8  
Unrecognized compensation expense $ 0.9 $ 0.9    
Weighted-average exercise price of non-vested awards (in usd per share) $ 2.86 $ 2.52    
Weighted-average remaining contractual term of vested awards 1 year 10 months 24 days 3 years 2 months 12 days    
Weighted-average remaining contractual term of outstanding awards 2 years 8 months 12 days 2 years 9 months 18 days    
Intrinsic value of options exercised $ 20.7 $ 4.4 1.7  
Excess tax benefits from share based compensation $ (0.1) $ 1.0 $ 0.1  
Key Employees        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares outstanding which vested (in shares) 80,098 1,137,176    
Weighted-average remaining contractual term 1 year 10 months 24 days 3 years 2 months 12 days    
Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period     5 years  
Percentage of fair market value of common stock (not less than) 100.00%      
Award termination period 10 years      
Stock option compensation expense $ 2.2 $ 0.5 $ 0.8  
Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period 3 years 3 years    
Options | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period 5 years 5 years