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Debt - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Nov. 18, 2019
May 03, 2019
Mar. 31, 2020
Sep. 30, 2020
Sep. 30, 2020
Dec. 31, 2019
Sep. 30, 2019
Debt Instrument [Line Items]              
Outstanding debt             $ 0
Letters of credit outstanding       $ 30,900,000 $ 30,900,000 $ 31,800,000  
Term Loan A Facility              
Debt Instrument [Line Items]              
Outstanding debt       95,959,000 95,959,000 99,608,000  
Credit Agreement              
Debt Instrument [Line Items]              
Interest expense       600,000 2,000,000.0    
Credit Agreement | Morgan Stanley Senior Funding, Inc | Minimum              
Debt Instrument [Line Items]              
Adjusted quick ratio   1.00%          
Credit Agreement | Morgan Stanley Senior Funding, Inc | Revolving Credit Facility              
Debt Instrument [Line Items]              
Debt instrument term, years   4 years          
Maximum borrowing capacity   $ 100,000,000.0          
Amount borrowed under debt facility     $ 69,300,000        
Credit facility expiration and maturity month and year   2023-02          
Letters of credit outstanding       $ 30,600,000 $ 30,600,000 $ 30,700,000  
Credit Agreement | Morgan Stanley Senior Funding, Inc | Revolving Credit Facility | Adjusted One-Month LIBOR              
Debt Instrument [Line Items]              
Debt instrument, applicable margin on variable rate     1.75%        
Credit Agreement | Morgan Stanley Senior Funding, Inc | Term Loan A Facility              
Debt Instrument [Line Items]              
Debt instrument term, years   4 years          
Maximum borrowing capacity   $ 100,000,000.0          
Amount borrowed under debt facility $ 100,000,000.0            
Debt instrument, amortization description         Loans under the Term Loan A Facility amortize in equal quarterly installments beginning on March 31, 2020, in an aggregate annual amount equal to (i) on or prior to December 31, 2021, 1.25% of the drawn principal amount of the Term Loan Facility or $1.25 million and (ii) thereafter, 2.50% of the drawn principal amount of the Term Loan Facility or $2.5 million, with the remaining balance payable on the maturity date of the Term Loan A Facility in February 2023.    
Debt instrument maturity month and year   2023-02          
Credit Agreement | Morgan Stanley Senior Funding, Inc | Term Loan A Facility | On or Prior to December 31, 2021              
Debt Instrument [Line Items]              
Percentage of amortization on drawn principal amount   1.25%          
Amortization, aggregate principal amount   $ 1,250,000          
Credit Agreement | Morgan Stanley Senior Funding, Inc | Term Loan A Facility | Thereafter December 31, 2021              
Debt Instrument [Line Items]              
Percentage of amortization on drawn principal amount   2.50%          
Amortization, aggregate principal amount   $ 2,500,000          
Credit Agreement | Morgan Stanley Senior Funding, Inc | Term Loan A Facility | Adjusted One-Month LIBOR              
Debt Instrument [Line Items]              
Debt instrument, applicable margin on variable rate 1.75%            
Credit Agreement | Morgan Stanley Senior Funding, Inc | Uncommitted Incremental Facility              
Debt Instrument [Line Items]              
Maximum borrowing capacity   $ 50,000,000.0          
Debt to company's EBITDA, description         1.0x of the Company’s EBITDA for the most recently completed four fiscal quarter period    
Credit Agreement | Morgan Stanley Senior Funding, Inc | Uncommitted Incremental Facility | Maximum              
Debt Instrument [Line Items]              
Secured leverage ratio   1.50%