Stockholders' Equity - (Details)	1 Months Ended	12 Months Ended
	Nov. 30, 2019 USD ($)	Dec. 31, 2019 USD ($) vote series $ / shares shares	Dec. 31, 2018 USD ($) shares	Dec. 31, 2017 USD ($) shares
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Authorized shares of common stock (in shares) | shares		100,000,000	100,000,000
Voting rights per common share | vote		1
Shares acquired by the entity (in shares) | shares		17,774	25,890	28,000
Cost of shares acquired by the entity | $		$ 1,300,000	$ 1,500,000	$ 2,500,000
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Authorized shares of preferred stock | shares		20,000,000
Preferred stock, par value (in dollars per share) | $ / shares		$ 0.01
Minimum number of series of preferred stock to be issued | series		1
Number of preferred shares issued (in shares) | shares		0
2020 Stock Purchase Plan
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Stock repurchase program, period in force	12 months
2019 Stock Purchase Plan
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Authorized amount of repurchase under the stock purchase plan | $			$ 25,000,000
Common stock purchased under the stock purchase plan (in shares) | shares		79,676
Cost of shares of common stock acquired | $		$ 4,900,000
2018 Stock Purchase Plan
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Authorized amount of repurchase under the stock purchase plan | $		$ 25,000,000
Common stock purchased under the stock purchase plan (in shares) | shares			124,434
Cost of shares of common stock acquired | $			$ 9,300,000
2017 Stock Purchase Plan
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Common stock purchased under the stock purchase plan (in shares) | shares				0
Cost of shares of common stock acquired | $				$ 0
2016 Stock Purchase Plan
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Common stock purchased under the stock purchase plan (in shares) | shares				85,354
Cost of shares of common stock acquired | $				$ 6,800,000
Maximum | 2020 Stock Purchase Plan
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Authorized amount of repurchase under the stock purchase plan | $	$ 25,000,000