Stockholders' Equity - Summary of activity under stock-based incentive plans (Details) - Stock Incentive Plan - shares	3 Months Ended
Mar. 31, 2020	Mar. 31, 2019
Summary of the activity under the incentive plans
Share-based awards, beginning of period	1,754,066	1,769,863
Granted (shares)	39,344	64,771
Vested (shares)	(68,649)	(50,507)
Share-based awards, end of period	1,724,761	1,784,127
Restricted Stock
Summary of the activity under the incentive plans
Shares withheld to pay estimated withholding taxes	23,563	19,546

The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(iii)(1)
-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)-(ii)
-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

+ Details

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- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(iii)(2)
-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

Number of shares used to settle grantee's tax withholding obligation for award under share-based payment arrangement.

+ References

No definition available.

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