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Stockholders' Equity (Details) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2019 USD ($) series $ / shares shares | Dec. 31, 2018 USD ($) $ / shares shares | Dec. 31, 2017 USD ($) $ / shares shares | Jan. 09, 2019 USD ($) | Feb. 03, 2017 USD ($)
Class of Stock [Line Items] |  |  |  |  |
Authorized amount under share repurchase program | $ |  |  |  | $ 200,000,000.0 | $ 100,000,000.0
Share repurchases (in shares) | 1,271,823 | 2,299,498 | 1,264,149 |  |
Repurchases of common stock | $ | $ 24,900,000 | $ 50,000,000.0 | $ 24,800,000 |  |
Average price paid per share of common stock repurchased (in dollars per share) | $ / shares | $ 19.55 | $ 21.74 | $ 19.59 |  |
Number of series of preferred stock | series | 2 |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares | $ 0.01 |  |  |  |
Series B Preferred stock |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares | $ 0.01 | $ 0.01 |  |  |
Preferred stock, shares authorized (in shares) | 1,000,000 | 1,000,000 |  |  |
Preferred stock, shares outstanding (in shares) | 0 | 0 |  |  |
Series C Preferred stock |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares | $ 0.01 | $ 0.01 |  |  |
Preferred stock, shares authorized (in shares) | 18,500 | 18,500 |  |  |
Preferred stock, shares outstanding (in shares) | 0 | 0 |  |  |

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