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Debt and Credit Agreements - Narrative (Details)
1 Months Ended 12 Months Ended
Sep. 22, 2020
USD ($)
Nov. 15, 2019
USD ($)
Jan. 05, 2016
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Dec. 26, 2017
USD ($)
Debt Instrument [Line Items]                
Debt issuance costs incurred and capitalized         $ 550,000 $ 2,321,000 $ 0  
Amortization of debt issuance costs         1,597,000 2,204,000 2,292,000  
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         550,000      
Amortization of debt issuance costs         997,000 2,200,000 2,300,000  
Interest expense         500,000 3,600,000 $ 7,500,000  
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank                
Debt Instrument [Line Items]                
Debt issuance costs incurred and capitalized $ 600,000 $ 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            
Outstanding balance         $ 0 $ 50,000,000    
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 | Revolving Credit Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | For Calendar Quarters Ending September 30, 2020, December 31, 2020 and March 31, 2021                
Debt Instrument [Line Items]                
Maximum secured net leverage ratio 3.50              
Line of Credit | Revolving Credit Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Calendar Quarters Ending Thereafter                
Debt Instrument [Line Items]                
Maximum secured net leverage ratio 3.00              
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