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Fair Value of Financial Instruments - Narrative (Details) - USD ($)
Apr. 04, 2018
Mar. 27, 2018
Dec. 31, 2019
Dec. 31, 2018
Debt Instrument [Line Items]        
Over-allotment option, term   13 days    
Over-allotment option   $ 22,500,000    
Additional proceeds $ 21,500,000      
Unsecured Obligations | 2.50% Convertible Notes due 2023        
Debt Instrument [Line Items]        
Aggregate principal amount $ 171,500,000 $ 150,000,000    
Interest rate   2.50%    
Fair value     $ 133,800,000 $ 121,400,000