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Debt and Credit Agreements - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended
Nov. 15, 2019
Jan. 05, 2016
Nov. 30, 2019
Dec. 31, 2017
Mar. 31, 2020
Mar. 31, 2019
Dec. 26, 2017
Debt Instrument [Line Items]              
Debt issuance costs incurred and capitalized         $ 0    
Amortization of debt issuance costs         241,000 $ 573,000  
Interest expense         $ 200,000 $ 1,300,000  
Wells Fargo Bank              
Debt Instrument [Line Items]              
Debt issuance costs incurred and capitalized       $ 2,100,000      
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            
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)            
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