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Selected Quarterly Financial Data (Unaudited)- Quarterly Financial Data (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Quarterly Financial Information Disclosure [Abstract]                      
Revenue $ 434,335 $ 360,315 $ 353,987 $ 358,238 $ 396,636 $ 373,918 $ 366,717 $ 341,254 $ 1,506,875 $ 1,478,525 $ 1,337,973
Operating income 21,758 28,250 22,782 16,319 28,298 28,664 22,542 21,889 89,109 101,393 92,272
Net income $ 12,820 $ 17,871 $ 13,656 $ 10,612 $ 19,379 $ 19,630 $ 14,611 $ 15,318 $ 54,959 $ 68,938 $ 61,400
Earnings per share:                      
Basic $ 0.68 $ 0.95 $ 0.73 $ 0.56 $ 1.03 $ 1.04 $ 0.78 $ 0.81 $ 2.92 $ 3.66 $ 3.27
Diluted $ 0.67 $ 0.94 $ 0.72 $ 0.55 $ 1.01 $ 1.02 $ 0.76 $ 0.80 $ 2.87 $ 3.59 $ 3.18
Weighted-average common shares outstanding                      
Basic 18,841 18,853 18,829 18,840 18,834 18,799 18,805 18,825 18,841 18,816 18,797
Diluted 19,143 19,086 19,020 19,197 19,234 19,169 19,133 19,263 19,135 19,224 19,335
Cash dividends declared per common share $ 0.14 $ 0.14 $ 0.14 $ 0.14 $ 0.14 $ 0.14 $ 0.14 $ 0.14 $ 0.56 $ 0.56 $ 0.56