Stockholders' Equity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Feb. 28, 2021
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Stock repurchased during period	$ 13,482	$ 10,738	$ 14,483
Preferred Stock [Member]
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Preferred stock, shares authorized (in shares)	500,000
Preferred stock, par value (in dollars per share)	$ 20
Preferred stock, shares outstanding (in shares)	0	0
Series A Preferred Stock [Member]
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Preferred stock, shares authorized (in shares)	30,000
Preferred stock, voting rights	Each share of the Series A Preferred Stock shall entitle the holder to one thousand votes
Stock Repurchase Program 2018 [Member]
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Stock repurchase program, authorized amount			$ 20,000
Stock repurchased during period (in shares)		221,748	201,484
Stock repurchased during period		$ 10,700	$ 9,300
Stock Repurchase Program 2020 [Member]
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Stock repurchase program, authorized amount	$ 20,000
Stock repurchased during period (in shares)	323,867
Stock repurchased during period	$ 13,500
Stock repurchase program, remaining authorized amount	$ 6,500
Stock Repurchase Program 2021 [Member] | Subsequent Event [Member]
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract]
Stock repurchase program, authorized amount				$ 20,000
Stock repurchase program, remaining authorized amount				$ 26,500