Consolidated Statements of Shareholders' Equity (Parenthetical) - $ / shares	3 Months Ended						9 Months Ended
	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019	Dec. 31, 2018
Statement of Stockholders' Equity [Abstract]
Dividends declared on common stock (in dollars per share)	$ 0		$ 0.12	$ 0.12	$ 0.12	$ 0.12	$ 0.12	$ 0.36
Issuance of common stock related to stock awards (in shares)	7,214	46,447	88,141	1,180	28,927	65,517
Number of shares repurchased and retired (in shares)			259,910	762,543	725,105	403,598	260,000	1,900,000
Common stock, par value (in dollars per share)	$ 0.01			$ 0.01			$ 0.01	$ 0.01	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	118,000,000			118,000,000			118,000,000	118,000,000	118,000,000	118,000,000
Special preferred stock, par value (in dollars per share)	$ 0.01			$ 0.01			$ 0.01	$ 0.01	$ 0.01	$ 0.01
Special preferred stock, shares authorized (in shares)	2,000,000			2,000,000			2,000,000	2,000,000	2,000,000	2,000,000