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Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Increase (Decrease) in Stockholders' Equity        
Beginning balance $ 913,821 $ 950,873 $ 935,557 $ 1,085,963
Other comprehensive income (loss), net of tax:        
Total other comprehensive income (loss), net of tax 1,016 935 2,978 (4,586)
Ending balance 904,047 949,685 904,047 949,685
Accumulated Other Comprehensive Income (Loss)        
Increase (Decrease) in Stockholders' Equity        
Beginning balance (3,044) (6,908) (5,006) (1,387)
Other comprehensive income (loss), net of tax:        
Gain (loss) recognized in other comprehensive income (loss), net of tax expense (benefit) (458) (69) (529) (6,635)
(Gain) loss reclassified from accumulated other comprehensive loss to interest expense, net of tax (expense) benefit 1,474 1,004 3,507 2,049
Total other comprehensive income (loss), net of tax 1,016 935 2,978 (4,586)
Ending balance (2,028) (5,973) (2,028) (5,973)
Gain (loss) recognized in other comprehensive income, tax expense (benefit) (123) (18) (141) (1,764)
(Gain) loss reclassified from accumulated other comprehensive loss, tax (expense) benefit $ 393 $ 267 $ 933 $ 545