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Shareholders' Equity, Stock Options and Net Income per Share - Common and Preferred Stock (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 3 Months Ended | 12 Months Ended |
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Feb. 05, 2019 | Jul. 21, 2016 | Mar. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2018 | Sep. 30, 2018 | Jun. 30, 2018 | Mar. 31, 2018 | Dec. 31, 2017 | Sep. 30, 2017 | Jun. 30, 2017 | Mar. 31, 2017 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | May 31, 2016
Preferred Stock [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, shares authorized |  |  |  | 5,000,000 |  |  |  | 5,000,000 |  |  |  |  |  |  |  | 5,000,000 | 5,000,000 |  |
Preferred stock par value per share |  |  |  | $ 0.01 |  |  |  | $ 0.01 |  |  |  |  |  |  |  | $ 0.01 | $ 0.01 |  |
Cash Dividends [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Quarterly cash dividend per share, common stock |  |  | $ 0.18 | $ 0.18 | $ 0.18 | $ 0.18 | $ 0.18 | $ 0.18 | $ 0.15 | $ 0.15 | $ 0.15 | $ 0.15 | $ 0.15 | $ 0.15 | $ 0.15 |  |  |  |
Repurchase of Common Stock [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of common stock (repurchase program) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 56,204 | $ 66,126 | $ 48,983 |
Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Additional authorized shares for employee stock awards |  |  |  | 1,141,000 |  |  |  |  |  |  |  |  |  |  |  | 1,141,000 |  |  | 2,000,000
Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Expected life of options (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 7 years | 6 years 1 month 6 days | 5 years 10 months 24 days |
Minimum [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Option award vesting period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2 years |  |  |
Maximum [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Option award vesting period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |
2016 Stock Repurchase Plan [Member] | Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of Common Stock [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share repurchase program, authorized shares |  | 3,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Repurchased During Period, Shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 913,000 |  |  |
Repurchase of common stock (repurchase program) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 56,204 |  |  |
Treasury stock acquired, average cost per share |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 61.59 |  |  |
Remaining shares authorized under share repurchase program |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 4,155,000 |  |  |
2019 Stock Repurchase Plan [Member] | Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of Common Stock [Abstract] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share repurchase program, authorized shares | 5,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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