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Stockholders' Equity - Schedule of Shares Repurchased (Details) - USD ($) | 3 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Nov. 06, 2019 | May 06, 2019 | Dec. 12, 2018
Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |
Aggregate purchase price | $ 9,885,000 | $ 10,029,000 | $ 6,587,000 | $ 25,708,000 | $ 14,107,000 | $ 10,117,000 |  |  |  |  |
November Two Thousand Nineteen Share Repurchase Program |  |  |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  |  | 1,418,087 | 0 |  |  |
Aggregate purchase price |  |  |  |  |  |  | $ 26,501,000 |  |  |  |
Shares repurchased during period (in dollars per share) |  |  |  |  |  |  | $ 18.69 |  |  |  |
November Two Thousand Nineteen Share Repurchase Program | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |
Amount of shares authorized to repurchase |  |  |  |  |  |  |  |  | $ 40,000,000 |  |
May Two Thousand Nineteen Share Repurchase Program [Member] |  |  |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  |  | 0 | 1,302,401 |  |  |
Aggregate purchase price |  |  |  |  |  |  | $ 35,419,000 |  |  |  |
Shares repurchased during period (in dollars per share) |  |  |  |  |  |  | $ 27.20 |  |  |  |
May Two Thousand Nineteen Share Repurchase Program [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |
Amount of shares authorized to repurchase |  |  |  |  |  |  |  |  |  | $ 40,000,000 |
December Two Thousand Eighteen Share Repurchase Program [Member] |  |  |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  |  | 0 | 468,108 |  |  |
Aggregate purchase price |  |  |  |  |  |  | $ 14,513,000 |  |  |  |
Shares repurchased during period (in dollars per share) |  |  |  |  |  |  | $ 31.00 |  |  |  |
December Two Thousand Eighteen Share Repurchase Program [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |  |  |
Amount of shares authorized to repurchase |  |  |  |  |  |  |  |  |  |  | $ 20,000,000

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