Stockholders' Equity - Schedule of Shares Repurchased (Details) - USD ($)	3 Months Ended					9 Months Ended
	Sep. 30, 2021	Mar. 31, 2021	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2021	Sep. 30, 2020	Nov. 03, 2020	Nov. 06, 2019
Equity [Line Items]
Shares repurchased during the period	$ 1,364,000	$ 245,000	$ 9,885,000	$ 10,029,000	$ 6,587,000
November 3, 2020
Equity [Line Items]
Shares repurchased (in shares)						116,886	0
Shares repurchased during the period						$ 1,609,000
Shares repurchased during period (in USD per share)						$ 13.77
November 3, 2020 | Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized								$ 20,000,000
November 6, 2019
Equity [Line Items]
Shares repurchased (in shares)						0	1,418,087
Shares repurchased during the period							$ 26,501,000
Shares repurchased during period (in USD per share)							$ 18.69
November 6, 2019 | Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized									$ 40,000,000