Shareholders' Equity - Additional Information (Details) - USD ($)	3 Months Ended				9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2021	Sep. 30, 2020	May 13, 2021
Equity Class Of Treasury Stock [Line Items]
Common stock repurchased, shares	148,035		122,000	220,731	148,035	342,731
Common stock repurchased, value	$ 4,939,000		$ 2,776,000	$ 5,304,000	$ 4,939,000	$ 8,080,000
Shares available for future purchases		$ 45,061,000				$ 45,061,000
Antidilutive securities excluded from computation of earnings per share (shares)	462	0			1,029	68,198
Maximum
Equity Class Of Treasury Stock [Line Items]
Treasury shares authorized to be purchased							$ 50,000,000