Share Repurchase Program (Details) - USD ($) $ / shares in Units, shares in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2021	Nov. 01, 2016
Equity, Class of Treasury Stock [Line Items]
Total number of shares repurchased (in shares)	3,063	3,005
Average price paid per share (in dollars per share)	$ 5.92	$ 6.56
Aggregate purchase price	$ 18,123,000	$ 19,710,000
Amount available under the share repurchase program			$ 44,000,000
2016 Repurchase Program
Equity, Class of Treasury Stock [Line Items]
Authorized share repurchased program amount				$ 100,000,000