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Debt and Credit Agreements - Narrative (Details) - USD ($)
12 Months Ended
Nov. 15, 2019
Jan. 05, 2016
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 26, 2017
Debt Instrument [Line Items]            
Debt issuance costs incurred and capitalized     $ 2,321,000 $ 0 $ 2,106,000  
Amortization of debt issuance costs     2,204,000 2,292,000 1,590,000  
Interest expense     3,600,000 7,500,000 6,300,000  
Outstanding balance     $ 50,000,000 140,000,000    
Wells Fargo Bank            
Debt Instrument [Line Items]            
Debt issuance costs incurred and capitalized         $ 2,100,000  
Revolving Credit Facility            
Debt Instrument [Line Items]            
Term of debt instrument     5 years      
Letter of Credit | Wells Fargo Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity   $ 10,000,000.0        
Swing Line Loan | Wells Fargo Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity   10,000,000.0        
Line of Credit            
Debt Instrument [Line Items]            
Debt issuance costs incurred and capitalized     $ 2,300,000      
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Minimum            
Debt Instrument [Line Items]            
Commitment fee rate on undrawn commitments 0.15%          
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Maximum            
Debt Instrument [Line Items]            
Commitment fee rate on undrawn commitments 0.30%          
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR            
Debt Instrument [Line Items]            
Spread on variable interest rate 1.00%          
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR | Minimum            
Debt Instrument [Line Items]            
Spread on variable interest rate 1.25%          
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR | Maximum            
Debt Instrument [Line Items]            
Spread on variable interest rate 2.00%          
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Federal Funds            
Debt Instrument [Line Items]            
Spread on variable interest rate 0.50%          
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR Plus 1.00% | Minimum            
Debt Instrument [Line Items]            
Spread on variable interest rate 0.25%          
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR Plus 1.00% | Maximum            
Debt Instrument [Line Items]            
Spread on variable interest rate 1.00%          
Line of Credit | Secured Credit Facility | Wells Fargo Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity   $ 400,000,000.0        
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option One | Minimum            
Debt Instrument [Line Items]            
Spread on variable interest rate   1.50%        
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option One | Maximum            
Debt Instrument [Line Items]            
Spread on variable interest rate   2.25%        
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option Two | Minimum            
Debt Instrument [Line Items]            
Spread on variable interest rate   0.50%        
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option Two | Maximum            
Debt Instrument [Line Items]            
Spread on variable interest rate   1.25%        
Line of Credit | Secured Credit Facility | Wells Fargo Bank | Federal Funds | Interest Rate Option Two            
Debt Instrument [Line Items]            
Spread on variable interest rate   0.50%        
Line of Credit | Revolving Credit Facility            
Debt Instrument [Line Items]            
Balance transfer $ 80,000,000.0   80,000,000      
Outstanding balance     50,000,000 0    
Line of Credit | Revolving Credit Facility | Wells Fargo Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity   $ 200,000,000.0       $ 315,000,000.0
Term of debt instrument   5 years        
Line of Credit | Revolving Credit Facility | Wells Fargo Bank | Minimum            
Debt Instrument [Line Items]            
Commitment fee rate on undrawn commitments   0.20%        
Line of Credit | Revolving Credit Facility | Wells Fargo Bank | Maximum            
Debt Instrument [Line Items]            
Commitment fee rate on undrawn commitments   0.35%        
Line of Credit | Revolving Credit Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity $ 500,000,000.0          
Term of debt instrument 5 years          
Line of Credit | Term Loan Facility            
Debt Instrument [Line Items]            
Balance transfer $ (80,000,000.0)   (80,000,000)      
Outstanding balance     $ 0 $ 140,000,000    
Line of Credit | Term Loan Facility | Wells Fargo Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity   $ 200,000,000.0        
Term of debt instrument   5 years        
Line of Credit | Letter of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity 15,000,000.0          
Line of Credit | Swing Line Loan | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity 25,000,000.0          
Line of Credit | Incremental Loan Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank            
Debt Instrument [Line Items]            
Maximum borrowing capacity $ 250,000,000.0