Shareholders' Equity - Additional Information (Details) - USD ($)	3 Months Ended						9 Months Ended
	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Sep. 30, 2020	Sep. 30, 2019	Feb. 07, 2019
Stockholders Equity Note [Abstract]
Treasury shares authorized to be purchased									$ 25,000,000
Common stock repurchased, shares		122,000	220,731	106,760	148,466	31,500	342,731	286,726
Common stock repurchased, value		$ 2,776,000	$ 5,304,000	$ 3,043,000	$ 4,153,000	$ 849,000	$ 8,080,000	$ 8,045,000
Shares are available for future issuances	$ 5,740,000						$ 5,740,000
Antidilutive securities excluded from computation of earnings per share (shares)	0			0			68,198	20,273