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Share Repurchase Program (Details) - USD ($) $ / shares in Units, shares in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2021 | Nov. 01, 2016
Equity, Class of Treasury Stock [Line Items] |  |  |  |
Total number of shares repurchased (in shares) | 3,063 | 3,005 |  |
Average price paid per share (in dollars per share) | $ 5.92 | $ 6.56 |  |
Aggregate purchase price | $ 18,123,000 | $ 19,710,000 |  |
Amount available under the share repurchase program |  |  | $ 44,000,000 |
2016 Repurchase Program |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |
Authorized share repurchased program amount |  |  |  | $ 100,000,000

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