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Stock Based Compensation Performance share units (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage weight of PSUs related to performance condition | 80.00% |  |
Percentage weight of PSUs related to market condition | 20.00% |  |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized | $ 7,800,000 |  |
Market Condition Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Deferred Compensation Arrangement with Individual, Allocated Share-based Compensation Expense | 200,000 |  |
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ 200,000 |  |
2019 [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 53,692 |  |
2019 [Member] | Performance Condition Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value | $ 27.62 |  |
Compensation expense to be recognized over 3-year period at Minimum level | 600,000 |  |
Employee Service Share-based Compensation, Nonvested Awards, Total Compensation Cost Not yet Recognized | 200,000 |  |
2019 [Member] | Market Condition Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value | 32.52 |  |
2018 [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number |  | 46,444 |
2018 [Member] | Performance Condition Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  | $ 31.93 |
Deferred Compensation Arrangement with Individual, Allocated Share-based Compensation Expense | 400,000 |  |
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ 200,000 |  |
2018 [Member] | Market Condition Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  | $ 33.57 |
2017 [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number |  |  | 57,110
2017 [Member] | Performance Condition Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 55,080 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  |  | $ 23.34
Deferred Compensation Arrangement with Individual, Allocated Share-based Compensation Expense | $ 900,000 |  |
2017 [Member] | Market Condition Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | 11,101 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  |  | $ 19.69
Deferred Compensation Arrangement with Individual, Allocated Share-based Compensation Expense | $ 100,000 |  |

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