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Stock-Based Compensation - 2020 Plans (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Apr. 30, 2020
Stock-based payment awards          
Treasury stock purchased $ 960 $ 1,150 $ 1,794 $ 2,007  
2020 Plan          
Stock-based payment awards          
Number of shares authorized for issuance 8,500,000   8,500,000    
Reduction in number of shares available for issuance for each stock-settled award granted         1