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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Consolidated Statements of Stockholders' Equity [Abstract] |  |  |
Issuance of stock and related tax withholdings for vested restricted stock units (in shares) | 212,392 | 230,624 | 211,328
Conversion of Class B shares(in shares) | 261 | 18 | 31,800
Dividends declared (in dollars per share) | $ 0.38 | $ 0.37 | $ 0.3225

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