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Equity - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Feb. 28, 2018
Stockholders Equity Note [Line Items]          
Net proceeds from issuance of common stock     $ 20,248,000 $ 5,791,000  
Share Repurchase Plan, February 2018          
Stockholders Equity Note [Line Items]          
Common stock authorized to repurchase by Board         $ 100,000,000
Share repurchases (in shares)     0    
Available authorization remaining for repurchase $ 78,000,000   $ 78,000,000    
Convertible Debt Securities          
Stockholders Equity Note [Line Items]          
Securities excluded in the calculation of diluted earnings per share (in shares)       32,200,000  
Equity awards          
Stockholders Equity Note [Line Items]          
Securities excluded in the calculation of diluted earnings per share (in shares) 22,102 13,560 18,736 15,457  
At The Market Offerings | Common Stock          
Stockholders Equity Note [Line Items]          
Stock issuance program, authorized amount $ 175,000,000   $ 175,000,000    
Issuance of common stock (in shares)     1,466,669    
Net proceeds from issuance of common stock     $ 18,000,000    
Remaining capacity $ 92,000,000   92,000,000    
Direct Stock Purchases and Dividend Reinvestment Plan | Common Stock          
Stockholders Equity Note [Line Items]          
Net proceeds from issuance of common stock     $ 1,000,000    
Shares remaining for future offerings 6,000,000   6,000,000    
Common Stock          
Stockholders Equity Note [Line Items]          
Issuance of common stock (in shares) 1,585,709   2,391,777 350,088  
Direct stock purchase and dividend reinvestment plan (in shares)     119,040 119,040  
Share repurchases (in shares)   3,047,335   3,047,335