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Stockholders' Equity - Restricted Stock Plan (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock award, issued during period (in shares) 1,923,356      
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based payment award, number of shares authorized (in shares)       5,000,000
Share-based payment award, limitation on single participant (in shares) (no more than)       750,000
Restricted stock award, not yet vested (in shares) 184,190 283,338 283,338 221,622
Unrecognized compensation expense       $ 2.5
Unrecognized compensation expense, recognition weighted average period 2 years 1 month 6 days      
Number of Shares        
Nonvested restricted shares outstanding at beginning of year (in shares) 184,190 283,338 224,289  
Granted (in shares) 155,982 142,475 216,017  
Forfeited (in shares) (8,869) (12,858) (29,150)  
Vested (in shares) (109,681) (228,765) (127,818)  
Nonvested restricted shares outstanding at end of year (in shares) 221,622 184,190 283,338  
Weighted Average Fair Value at Date of Grant        
Nonvested restricted shares outstanding at beginning of year (in dollars per share) $ 40.33 $ 37.26 $ 41.30  
Granted (in dollars per share) 35.62 39.58 36.03  
Forfeited (in dollars per share) 41.34 40.06 42.50  
Vested (in dollars per share) 40.12 35.86 41.06  
Nonvested restricted shares outstanding at end of year (in dollars per share) $ 37.08 $ 40.33 $ 37.26  
Nonvested restricted shares granted (in shares) 155,982 142,475 216,017  
Restricted Stock Performance Plan | Award Opportunity 2017-2018        
Number of Shares        
Granted (in shares) 331,150      
Weighted Average Fair Value at Date of Grant        
Compensation expense $ 5.6      
Nonvested restricted shares granted (in shares) 331,150      
Restricted Stock Performance Plan | Award Opportunity 2016-2017        
Number of Shares        
Granted (in shares)   91,396    
Weighted Average Fair Value at Date of Grant        
Compensation expense $ 2.2 $ 2.0    
Nonvested restricted shares granted (in shares)   91,396    
Restricted Stock Performance Plan | Award Opportunity 2015-2016        
Number of Shares        
Granted (in shares)     75,741  
Weighted Average Fair Value at Date of Grant        
Compensation expense   $ 2.2 $ 1.7  
Nonvested restricted shares granted (in shares)     75,741  
Restricted Stock Performance Plan | Award Opportunity 2014-2015        
Weighted Average Fair Value at Date of Grant        
Compensation expense     $ 2.2