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Stockholders' Equity - Schedule of Shares Repurchased (Details) - USD ($) | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2021 | Mar. 31, 2021 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Nov. 03, 2020 | Nov. 06, 2019
Equity [Line Items] |  |  |  |  |  |  |  |  |
Shares repurchased during the period | $ 1,364,000 | $ 245,000 | $ 9,885,000 | $ 10,029,000 | $ 6,587,000 |  |  |  |
November 3, 2020 |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Shares repurchased (in shares) |  |  |  |  |  | 116,886 | 0 |  |
Shares repurchased during the period |  |  |  |  |  | $ 1,609,000 |  |  |
Shares repurchased during period (in USD per share) |  |  |  |  |  | $ 13.77 |  |  |
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 | 1,418,087 |  |
Shares repurchased during the period |  |  |  |  |  |  | $ 26,501,000 |  |
Shares repurchased during period (in USD per share) |  |  |  |  |  |  | $ 18.69 |  |
November 6, 2019 | Maximum |  |  |  |  |  |  |  |  |
Equity [Line Items] |  |  |  |  |  |  |  |  |
Amount of stock repurchase plan authorized |  |  |  |  |  |  |  |  | $ 40,000,000

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