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Common Stock - Share Repurchase Program (Details) - USD ($)
 3 Months Ended 9 Months Ended
Apr. 02, 2021
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Oct. 20, 2021
Dec. 31, 2020
Dividends Payable [Line Items]              
Issued and outstanding common stock authorized to repurchase   $ 100,000,000   $ 100,000,000      
Shares repurchased (in shares)   242,420 0 742,417 243,894    
Aggregate value   $ 12,261,000 $ 0 $ 30,146,000 $ 6,976,000    
Accrued share repurchase (in shares)             299,894
Amount remaining under current authorizations   33,500,000   33,500,000      
Subsequent Event              
Dividends Payable [Line Items]              
Issued and outstanding common stock authorized to repurchase           $ 200,000,000  
Stock repurchase program, additional authorized amount           $ 100,000,000  
Magnus              
Dividends Payable [Line Items]              
Stock repurchase program, authorized amount   24,900,000   24,900,000      
Aggregate purchases of shares in open market before shares will be purchased from Magnus   $ 24,900,000   $ 24,900,000      
Shares repurchased (in shares) 355,341            
Aggregate value $ 11,100,000            
Share repurchase liability             $ 8,800,000
Accrued share repurchase (in shares)             299,894