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Stockholders' Equity - Summary of Capital Structure (Details) - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended
Sep. 30, 2020
Jun. 19, 2020
Sep. 30, 2020
Dec. 31, 2019
Class of Stock [Line Items]        
Shares issued (in shares)       0
Shares authorized (in shares) 50,000,000   50,000,000 50,000,000
Shares issued (in shares) 27,932,671   27,932,671 27,163,642
Treasury shares (in shares) (3,081,070)   (3,081,070) (2,198,681)
Shares outstanding (in shares) 24,851,601   24,851,601 24,964,961
Par value per share (in dollars per share) $ 0.01   $ 0.01 $ 0.01
Preferred Stock Series C        
Class of Stock [Line Items]        
Shares authorized (in shares) 51,750   51,750  
Shares issued (in shares) 45,000 45,000 45,000  
Shares outstanding (in shares) 45,000   45,000  
Par value per share (in dollars per shares) $ 0.01 $ 0.01 $ 0.01  
Liquidation preference per share (in dollars per shares) $ 1,000 $ 1,000 $ 1,000  
Liquidation preference amount $ 45,000   $ 45,000  
Dividend rate 7.125% 7.125% 7.125%