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Stock-Based Compensation (Details) - USD ($)
$ in Thousands, shares in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Intrinsic value of stock options exercised $ 816 $ 4,000 $ 10,000
Total fair value of vested stock options $ 4,000 3,000 4,000
Minimum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 0.00%    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 150.00%    
Performance-based Restricted Stock Award [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting Period 3 years    
Term of transfer restrictions 3 years    
Service-based Restricted Stock Award [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting Period 4 years    
Term of transfer restrictions 4 years    
Employee Stock Option [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Recognized compensation expense for vesting of stock options $ 4,000 4,000 4,000
Recognized compensation expense for accelerated vesting of stock options 2,000    
Unvested share-based payment awards $ 3,000    
Employee Service Share Based Compensation Nonvested Awards Compensation Cost Not Yet Recognized Year For Recognition first quarter 2024    
Restricted Stock Award [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Recognized compensation expense for vesting of stock options $ 17,000 $ 21,000 $ 13,000
Recognized compensation expense for accelerated vesting of stock options 7,000    
Unvested share-based payment awards $ 15,000    
Employee Service Share Based Compensation Nonvested Awards Compensation Cost Not Yet Recognized Year For Recognition first quarter 2024    
2020 Incentive Compensation Plan [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares remaining available for grant (in shares) 14.4    
Expiration term of awards 10 years    
Vesting Period 4 years