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Stockholders' Equity - Shares Repurchased (Details) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Equity, Class of Treasury Stock [Line Items]      
Number of shares repurchased related to withholding taxes due on accelerated vesting of RSUs (in shares)     26,741
Average share price (in usd per share)     $ 31.80
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) 28,887 28,479 53,256
Stock repurchase to pay withholding taxes average share price (in usd per share) $ 21.57 $ 30.83 $ 31.99