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Equity (Details) - USD ($)
 1 Months Ended 3 Months Ended 6 Months Ended
Sep. 30, 2012
Jun. 30, 2019
Jun. 30, 2019
Jun. 30, 2018
Dec. 31, 2018
Common Stock Repurchase          
Repurchase of common stock authorized by Board of Directors $ 100,000,000.0       $ 60,000,000.0
Number of years for repurchase of common stock 5 years        
Common stock repurchased, value   $ 3,251,000 $ 3,567,000 $ 10,185,000  
Weighted average price per share (in dollars per share)     $ 49.29    
Remaining authorized stock repurchase amount   $ 56,400,000 $ 56,400,000    
Dividend rate (as a percent)     6.50%    
Preferred stock dividends paid       $ 1,600,000  
Common Stock          
Common Stock Repurchase          
Common stock repurchased (in shares)   65,000 72,324 297,000  
Common stock repurchased, value   $ 1,000 $ 1,000 $ 3,000