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Stockholders' Equity - Shares Repurchased (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Equity, Class of Treasury Stock [Line Items]        
Stock Repurchased During Period, Value     $ 23.25  
Twelfth Stock Repurchase Plan [Member] [Member] [Domain]        
Equity, Class of Treasury Stock [Line Items]        
Repurchased shares to pay withholding taxes (in shares) 0   155,778  
Stock Repurchased During Period, Value     $ 20.34  
Eleventh Stock Repurchase Plan        
Equity, Class of Treasury Stock [Line Items]        
Repurchased shares to pay withholding taxes (in shares)   264,712 639,922 292,712
Stock Repurchased During Period, Value   $ 26.23 $ 23.95 $ 26.50
Shares Related to Withholding Taxes on the Vesting of Restricted Stock        
Equity, Class of Treasury Stock [Line Items]        
Repurchased shares to pay withholding taxes (in shares) 378 405 28,306 28,434
Stock Repurchased During Period, Value $ 19.84 $ 27.67 $ 21.54 $ 30.83