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Shareholders’ Equity (Details) - USD ($)
 3 Months Ended 60 Months Ended 111 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Mar. 31, 2020
Mar. 31, 2020
Dec. 31, 2019
Mar. 31, 2015
Dec. 31, 2011
Dec. 31, 2008
Class of Stock [Line Items]                
Common stock, shares authorized (in shares) 195,000,000   195,000,000 195,000,000 195,000,000      
Common stock, par value (in dollars per share) $ 0.01   $ 0.01 $ 0.01 $ 0.01      
Common stock, shares issued (in shares) 96,647,486   96,647,486 96,647,486 96,372,182      
Common stock, shares, outstanding (in shares) 89,460,965   89,460,965 89,460,965 89,185,661      
Preferred stock, shares authorized (in shares) 5,000,000   5,000,000 5,000,000 5,000,000      
Preferred stock par value (in dollars per share) $ 0.01   $ 0.01 $ 0.01 $ 0.01      
Preferred shares issued (in shares)               160,000
Number of shares issued for each share of preferred stock (in shares) 100   100 100        
Stock repurchase program, authorized amount $ 130,000,000.0   $ 130,000,000.0 $ 130,000,000.0   $ 70,000,000.0 $ 60,000,000.0  
Treasury stock, shares, acquired (in shares)     0 7,186,521        
Treasury stock, value, acquired, cost method       $ 86,300,000        
Stock repurchase program, remaining authorized repurchase amount $ 43,700,000   $ 43,700,000 $ 43,700,000        
Series A Convertible Preferred Stock [Member]                
Class of Stock [Line Items]                
Preferred shares outstanding (in shares) 66,141   66,141 66,141 67,323      
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Shares, Beginning balance (in shares) 67,323 71,967            
Conversion of convertible preferred stock (in shares) (1,182) (3,023)            
Issuance for stock compensation plans (in shares) 0 0            
Shares, Ending balance (in shares) 66,141 68,944 66,141 66,141        
Treasury [Member]                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Shares, Beginning balance (in shares) 7,186,521 7,186,521            
Conversion of convertible preferred stock (in shares) 0 0            
Issuance for stock compensation plans (in shares) 0 0            
Shares, Ending balance (in shares) 7,186,521 7,186,521 7,186,521 7,186,521        
Common stock [Member]                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Shares, Beginning balance (in shares) 89,185,661 88,103,440            
Conversion of convertible preferred stock (in shares) 118,146 302,255            
Issuance for stock compensation plans (in shares) 157,158 402,062            
Shares, Ending balance (in shares) 89,460,965 88,807,757 89,460,965 89,460,965