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Shareholders' Equity (Details) - USD ($)
 12 Months Ended 81 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2021
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) 98,418,132 97,242,318   98,418,132      
Common stock, shares outstanding (shares) 91,231,611 90,055,797   91,231,611      
Preferred stock, shares authorized (shares) 5,000,000 5,000,000   5,000,000      
Preferred stock, shares issued (shares)             160,000
Shares, outstanding (in shares) 91,231,611 90,055,797 89,185,661 91,231,611      
Conversion of convertible preferred stock (shares) 100     100      
Liquidation preference (in dollars per share) $ 0.01     $ 0.01      
Authorized repurchase amount $ 130,000,000     $ 130,000,000   $ 60,000,000  
Additional repurchase amount         $ 70,000,000    
Repurchase of common stock (shares) 7,186,521     0      
Treasury stock acquired, aggregate purchase price $ 86,300,000            
Remaining authorized repurchase amount $ 43,700,000     $ 43,700,000      
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 90,055,797 89,185,661          
Ending balance (shares) 91,231,611 90,055,797 89,185,661 91,231,611      
Series A Convertible Preferred Stock              
Class of Stock [Line Items]              
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01   $ 0.01      
Shares, outstanding (in shares) 58,542 63,589 67,323 58,542      
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 63,589 67,323 71,967        
Conversion of convertible preferred stock (shares) (5,047) (3,734) (4,644)        
Ending balance (shares) 58,542 63,589 67,323 58,542      
Treasury              
Class of Stock [Line Items]              
Shares, outstanding (in shares) 7,186,521 7,186,521 7,186,521 7,186,521      
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 7,186,521 7,186,521 7,186,521        
Ending balance (shares) 7,186,521 7,186,521 7,186,521 7,186,521      
Common stock              
Class of Stock [Line Items]              
Shares, outstanding (in shares)              
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares)     88,103,440        
Conversion of convertible preferred stock (shares) 504,596 373,416 464,431        
Issuance for share-based compensation plans (shares) 671,218 496,720 617,790