Shareholders' Equity - Summary of Common Shares Outstanding (Details) - shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Roll forward of common shares outstanding
Balance at beginning of the year	32,472,406	32,750,727
Repurchases	(342,731)	(420,770)	(342,100)
Restricted stock unit issuances	147,112	142,449
Balance at end of period	32,276,787	32,472,406	32,750,727