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Stockholders' Equity - Stock Repurchase Program (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Stockholders' Equity      
Average purchase price per share for share repurchase (in dollars per share)   $ 16.54 $ 16.55
Aggregate cost   $ 8,803 $ 18,794
Remaining authorized repurchase amount   77,400  
Cash, cash equivalents and/or investments to be maintained   $ 100,000  
Common Stock      
Stockholders' Equity      
Shares repurchased during the period (in shares) 670,029 532,034 1,141,529