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Shareholders' Equity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands |  | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jul. 27, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Dec. 31, 2020 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020 | Feb. 05, 2019 | Jul. 21, 2016
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |
Dividends per share (in dollars per share) |  | $ 0.21 | $ 0.21 | $ 0.21 | $ 0.18 | $ 0.42 | $ 0.36 |  |
Repurchases of common stock |  |  |  |  |  | $ 33,992 | $ 15,259 |  |
Subsequent Event |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |
Dividends per share (in dollars per share) | $ 0.21 |  |  |  |  |  |  |  |
Stock Repurchase Plan 2016 |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares authorized for repurchase (in shares) |  |  |  |  |  |  |  |  | 3,000
Stock Repurchase Plan 2019 |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares authorized for repurchase (in shares) |  |  |  |  |  |  |  | 5,000 |
Shares available to be purchased (in shares) |  | 3,002 |  |  |  | 3,002 |  |  |
Stock Repurchase Plan 2019 | Common Stock |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  | 366 | 268 |  |
Repurchases of common stock |  |  |  |  |  | $ 33,992 | $ 15,259 |  |
Average cost per share (in dollars per share) |  |  |  |  |  | $ 92.76 | $ 56.93 |  |

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