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Compensation Arrangements - Deferred Compensation (Details) - USD ($)
12 Months Ended
Jan. 01, 2018
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Deferred Compensation Arrangement with Individual, Excluding Share-based Payments and Postretirement Benefits [Line Items]        
Deferred compensation plan liability   $ 1,700,000 $ 1,500,000  
Cash surrender value of the policies   $ 2,000,000.0 1,500,000  
Employer matching contribution, maximum (percentage)   100.00%    
Compensation expense related to 401(k) savings plan   $ 2,500,000 2,200,000 $ 1,900,000
Deferred compensation expense related to company's matching contributions   $ 0 0 0
Employee        
Deferred Compensation Arrangement with Individual, Excluding Share-based Payments and Postretirement Benefits [Line Items]        
Percentage of receipt of base compensation (up to)   75.00%    
Employee | Nonqualified Plan        
Deferred Compensation Arrangement with Individual, Excluding Share-based Payments and Postretirement Benefits [Line Items]        
Maximum contribution per employee (percentage) 4.00%      
Vesting period 3 years      
Employee | Unfunded Plan | Nonqualified Plan        
Deferred Compensation Arrangement with Individual, Excluding Share-based Payments and Postretirement Benefits [Line Items]        
Maximum annual contributions per employee   $ 11,400 $ 11,200 $ 11,000
Employee | First contribution | Nonqualified Plan        
Deferred Compensation Arrangement with Individual, Excluding Share-based Payments and Postretirement Benefits [Line Items]        
Employer matching contribution, maximum (percentage) 100.00%      
Maximum contribution per employee (percentage) 3.00%      
Employee | Second contribution | Nonqualified Plan        
Deferred Compensation Arrangement with Individual, Excluding Share-based Payments and Postretirement Benefits [Line Items]        
Employer matching contribution, maximum (percentage) 50.00%      
Maximum contribution per employee (percentage) 2.00%      
Non Employee Director        
Deferred Compensation Arrangement with Individual, Excluding Share-based Payments and Postretirement Benefits [Line Items]        
Percentage of receipt of base compensation (up to)   100.00%