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Shareholders' Equity - Additional Information (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Feb. 07, 2019
Stockholders Equity Note [Abstract]      
Treasury shares authorized to be purchased     $ 25,000,000
Common stock repurchased, shares 0 220,731  
Common stock repurchased, value   $ 5,304,000  
Shares available for future purchases   $ 5,740,000  
Antidilutive securities excluded from computation of earnings per share (shares) 35,167 38,839