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Shareholders' Equity (Details) - USD ($)
 12 Months Ended 57 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2019
Mar. 31, 2015
Dec. 31, 2011
Dec. 31, 2008
Class of Stock [Line Items]              
Common stock, shares authorized (shares) 195,000,000 195,000,000   195,000,000      
Common stock, par value (in dollars per share) $ 0.01 $ 0.01   $ 0.01      
Common stock, shares issued (shares) 96,372,182 95,289,961   96,372,182      
Common stock, shares outstanding (shares)   88,103,440          
Preferred stock, shares authorized (shares) 5,000,000 5,000,000   5,000,000      
Preferred stock, par value (in dollars per share)   $ 0.01          
Preferred stock, shares issued (shares)             160,000
Conversion of convertible preferred stock (shares) 100     100      
Liquidation preference (in dollars per share) $ 0.01     $ 0.01      
Authorized repurchase amount $ 130,000,000.0     $ 130,000,000.0   $ 60,000,000.0  
Additional repurchase amount         $ 70,000,000.0    
Treasury stock acquired, aggregate purchase price $ 86,300,000            
Repurchase of common stock (shares) 7,186,521     0      
Remaining authorized repurchase amount $ 43,700,000     $ 43,700,000      
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Repurchase of common stock (shares) 7,186,521     0      
Series A Convertible Preferred Stock [Member]              
Class of Stock [Line Items]              
Preferred stock, par value (in dollars per share) $ 0.01     $ 0.01      
Preferred stock, shares outstanding (shares) 67,323 71,967   67,323      
Repurchase of common stock (shares) 0 0 0        
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 71,967 74,364 75,625        
Repurchase of common stock (shares) 0 0 0        
Conversion of convertible preferred stock (shares) (4,644) (2,397) (1,261)        
Issuance for share-based compensation plans (shares) 0 0 0        
Ending balance (shares) 67,323 71,967 74,364 67,323      
Treasury              
Class of Stock [Line Items]              
Repurchase of common stock (shares) 0 0 0        
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 7,186,521 7,186,521 7,186,521        
Repurchase of common stock (shares) 0 0 0        
Conversion of convertible preferred stock (shares) 0 0 0        
Issuance for share-based compensation plans (shares) 0 0 0        
Ending balance (shares) 7,186,521 7,186,521 7,186,521 7,186,521      
Common stock              
Class of Stock [Line Items]              
Common stock, shares outstanding (shares) 89,185,661     89,185,661      
Repurchase of common stock (shares) 0 0 0        
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 88,103,440 87,544,777 87,250,897        
Repurchase of common stock (shares) 0 0 0        
Conversion of convertible preferred stock (shares) 464,431 239,748 126,098        
Issuance for share-based compensation plans (shares) 617,790 318,915 167,782        
Ending balance (shares)   88,103,440 87,544,777