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Stockholders' Equity - Schedule of Shares Repurchased (Details) - USD ($)	3 Months Ended			6 Months Ended
	Mar. 31, 2021	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2021	Jun. 30, 2020	Nov. 03, 2020	Nov. 06, 2019
Equity [Line Items]
Shares repurchased during the period	$ 245,000	$ 10,029,000	$ 6,587,000
November 3, 2020
Equity [Line Items]
Shares repurchased (in shares)				15,444	0
Shares repurchased during the period				$ 245,000
Shares repurchased during period (in USD per share)				$ 15.87
November 3, 2020 | Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized						$ 20,000,000
November 6, 2019
Equity [Line Items]
Shares repurchased (in shares)				0	884,175
Shares repurchased during the period					$ 16,616,000
Shares repurchased during period (in USD per share)					$ 18.79
November 6, 2019 | Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized							$ 40,000,000

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