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Basis of Preparation - Narratives (Details)
$ / shares in Units, shares in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
USD ($)
location
$ / shares
Sep. 30, 2020
USD ($)
$ / shares
Mar. 31, 2020
USD ($)
$ / shares
shares
Sep. 30, 2021
USD ($)
location
$ / shares
Sep. 30, 2020
USD ($)
$ / shares
Jan. 01, 2021
USD ($)
Dec. 31, 2020
USD ($)
Mar. 11, 2020
USD ($)
Nov. 06, 2017
USD ($)
Debt and Equity Securities, FV-NI                  
Number of locations (location) | location 25     25          
Shares authorized for repurchase             $ 75,000,000 $ 75,000,000  
Shares repurchased during the period (shares) | shares     760            
Weighted average share price of shares repurchased (usd per share) | $ / shares     $ 25.40            
Common stock repurchases [1]     $ 19,300,000            
Interest expense, net $ 3,200,000 $ 6,500,000   $ 7,400,000 $ 21,200,000        
Income from continuing operations $ 14,900,000 $ 15,600,000   $ 47,000,000.0 $ 31,400,000        
Income from continuing operations basic (usd per share) | $ / shares $ 0.42 $ 0.44   $ 1.32 $ 0.89        
Income from continuing operations diluted (usd per share) | $ / shares $ 0.36 $ 0.43   $ 1.15 $ 0.88        
Scenario, Plan                  
Debt and Equity Securities, FV-NI                  
Interest expense, net $ 2,100,000     $ 6,200,000          
Income from continuing operations $ 13,300,000     $ 42,200,000          
Income from continuing operations basic (usd per share) | $ / shares $ 0.05     $ 0.14          
Income from continuing operations diluted (usd per share) | $ / shares $ 0.04     $ 0.12          
Convertible Notes, due 2024 | Convertible Debt                  
Debt and Equity Securities, FV-NI                  
Principal amount $ 258,800,000 $ 258,800,000   $ 258,800,000 $ 258,800,000   258,800,000   $ 258,800,000
Interest expense, net 600,000 $ 600,000   1,900,000 $ 1,900,000        
Unamortized discount 0     0     34,800,000    
Unamortized debt issuance costs $ 3,000,000.0     $ 3,000,000.0   $ 3,900,000 $ 3,100,000    
[1] Includes $19.3 in shares repurchased through our share repurchase program. On March 11, 2021, the share repurchase program expired with no further repurchases. Refer to Note 1, “Basis of Preparation” for further information.