Stockholders' Equity (Details)	12 Months Ended
	Dec. 31, 2019 USD ($) series $ / shares shares	Dec. 31, 2018 USD ($) $ / shares shares	Dec. 31, 2017 USD ($) $ / shares shares	Jan. 09, 2019 USD ($)	Feb. 03, 2017 USD ($)
Class of Stock [Line Items]
Authorized amount under share repurchase program | $				$ 200,000,000.0	$ 100,000,000.0
Share repurchases (in shares)	1,271,823	2,299,498	1,264,149
Repurchases of common stock | $	$ 24,900,000	$ 50,000,000.0	$ 24,800,000
Average price paid per share of common stock repurchased (in dollars per share) | $ / shares	$ 19.55	$ 21.74	$ 19.59
Number of series of preferred stock | series	2
Preferred stock, par value (in dollars per share) | $ / shares	$ 0.01
Series B Preferred stock
Class of Stock [Line Items]
Preferred stock, par value (in dollars per share) | $ / shares	$ 0.01	$ 0.01
Preferred stock, shares authorized (in shares)	1,000,000	1,000,000
Preferred stock, shares outstanding (in shares)	0	0
Series C Preferred stock
Class of Stock [Line Items]
Preferred stock, par value (in dollars per share) | $ / shares	$ 0.01	$ 0.01
Preferred stock, shares authorized (in shares)	18,500	18,500
Preferred stock, shares outstanding (in shares)	0	0