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Stock-Based Compensation (Details) $ / shares in Units, $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2020 USD ($) $ / shares shares | Mar. 31, 2020 stock_awards $ / shares shares | Sep. 30, 2019 USD ($) | Mar. 31, 2019 stock_awards | Sep. 30, 2020 USD ($) tranch $ / shares shares | Sep. 30, 2019 USD ($) shares | Dec. 31, 2019 $ / shares shares
Stock-Based Compensation [Abstract] |  |  |  |  |  |  |  |
Number of types of stock-based awards granted (in types) | stock_awards |  |  | 2 |  | 2 |  |  |
Fair market value of awards | $ |  |  |  |  |  | $ 11,100 | $ 11,400 |
Stock-based compensation expense | $ |  | $ 2,494 |  | $ 1,947 |  | 5,839 | 6,016 |
Tax benefit from compensation expense | $ |  |  |  |  |  | 1,500 | 1,500 |
Unrecognized compensation expense | $ |  | 11,200 |  |  |  | $ 11,200 |  |
Unrecognized compensation, period for recognition |  |  |  |  |  | 2 years |  |
Performance Shares [Member] |  |  |  |  |  |  |  |
Stock-Based Compensation [Abstract] |  |  |  |  |  |  |  |
Stock-based compensation expense | $ |  | $ 1,503 |  | 800 |  | $ 2,804 | $ 2,515 |
Number of shares [Abstract] |  |  |  |  |  |  |  |
Outstanding, December 31, 2019 | shares |  |  | 295,347 |  |  | 295,347 |  |
Granted | shares |  |  |  |  |  | 94,850 | 110,923 |
Performance condition adjustment (a) | shares | [1] |  |  |  |  | (6,989) |  |
Vested | shares |  |  |  |  |  | (162,622) |  |
Forfeited | shares |  |  |  |  |  | (24,246) |  |
Outstanding, September 30, 2020 | shares |  | 196,340 |  |  |  | 196,340 |  | 295,347
Weighted Average Grant Date Fair Value [Abstract] |  |  |  |  |  |  |  |
Outstanding, December 31, 2019 | $ / shares |  |  | $ 31.09 |  |  | $ 31.09 |  |
Granted | $ / shares |  |  |  |  |  | 36.45 |  |
Performance condition adjustment (a) | $ / shares | [1] |  |  |  |  | 29.48 |  |
Vested | $ / shares |  |  |  |  |  | 28.93 |  |
Forfeited | $ / shares |  |  |  |  |  | 32.57 |  |
Outstanding, September 30, 2020 | $ / shares |  | $ 35.34 |  |  |  | $ 35.34 |  | $ 31.09
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |  |
Stock-Based Compensation [Abstract] |  |  |  |  |  |  |  |
Stock-based compensation expense | $ |  | $ 991 |  | $ 1,147 |  | $ 3,035 | $ 3,501 |
Number of shares [Abstract] |  |  |  |  |  |  |  |
Outstanding, December 31, 2019 | shares |  |  | 257,564 |  |  | 257,564 |  |
Granted | shares |  |  |  |  |  | 125,716 | 166,675 |
Performance condition adjustment (a) | shares | [1] |  |  |  |  | 0 |  |
Vested | shares |  |  |  |  |  | (143,807) |  |
Forfeited | shares |  |  |  |  |  | (26,707) |  |
Outstanding, September 30, 2020 | shares |  | 212,766 |  |  |  | 212,766 |  | 257,564
Weighted Average Grant Date Fair Value [Abstract] |  |  |  |  |  |  |  |
Outstanding, December 31, 2019 | $ / shares |  |  | $ 31.14 |  |  | $ 31.14 |  |
Granted | $ / shares |  |  |  |  |  | 36.45 |  |
Performance condition adjustment (a) | $ / shares | [1] |  |  |  |  | 0 |  |
Vested | $ / shares |  |  |  |  |  | 30.88 |  |
Forfeited | $ / shares |  |  |  |  |  | 32.82 |  |
Outstanding, September 30, 2020 | $ / shares |  | $ 34.24 |  |  |  | $ 34.24 |  | $ 31.14
Officer [Member] |  |  |  |  |  |  |  |
Stock-Based Compensation [Abstract] |  |  |  |  |  |  |  |
Performance Shares that could be awarded, as a percentage of ROIC target amount, minimum |  |  |  |  |  | 0.00% |  |
Performance Shares that could be awarded, as a percentage of ROIC target amount, maximum |  |  |  |  |  | 200.00% |  |
Performance Shares Target Percentage Earned, Officers |  |  |  |  |  |  |  | 93.00%
Vesting period (in years) |  |  |  |  |  | 3 years |  |
Other employees [Member] |  |  |  |  |  |  |  |
Stock-Based Compensation [Abstract] |  |  |  |  |  |  |  |
Performance Shares that could be awarded, as a percentage of EBITDA target amount, minimum |  |  |  |  |  | 0.00% |  |
Performance Shares that could be awarded, as a percentage of EBITDA target amount, maximum |  |  |  |  |  | 200.00% |  |
Performance Shares Target Percentage Earned, Other Employees |  |  |  |  |  |  |  | 96.00%
Number of equal tranches for annual vesting (in tranches) | tranch |  |  |  |  |  | 3 |  |
Officers and other employees [Member] | Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |  |
Stock-Based Compensation [Abstract] |  |  |  |  |  |  |  |
Number of equal tranches for annual vesting (in tranches) | tranch |  |  |  |  |  | 3 |  |
Nonemployee Directors [Member] | Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |  |
Stock-Based Compensation [Abstract] |  |  |  |  |  |  |  |
Vesting period (in years) |  |  |  |  |  | 1 year |  |
[1] | Represents total PSUs forfeited during the nine months ended September 30, 2020, related to the 2019 performance condition adjustment described above.

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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