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Stockholders' Equity - Stock Repurchase Program (Details) - $ / shares |  |  | 12 Months Ended
--- | --- | --- | ---
Mar. 12, 2020 | Oct. 23, 2014 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Class of Stock [Line Items] |  |  |  |  |
Stock Repurchased During Period, Value Per Share |  |  | $ 23.25 |  |
Total Stock Repurchased During Period, Shares |  |  | 795,700 |  |
Eleventh Plan |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Outstanding share, percent |  | 5.00% |  |  |
Outstanding common shares in the plan |  | 1,513,000 |  |  |
Twelfth Stock Repurchase Plan [Member] |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Outstanding share, percent | 5.00% |  |  |  |
Outstanding common shares in the plan | 1,799,054 |  |  |  |
Eleventh Plan |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Repurchased shares |  |  | 639,922 | 292,712 | 0
Stock Repurchased During Period, Value Per Share |  |  | $ 23.95 | $ 26.50 |
Twelfth Stock Repurchase Plan [Member] |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Repurchased shares |  |  | 155,778 |  |
Stock Repurchased During Period, Value Per Share |  |  | $ 20.34 |  |

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