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Stockholders' Equity - Restricted Stock Plan (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Restricted stock award, issued during period (in shares) 1,188,070    
Restricted Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares authorized (in shares) 5,000,000    
Limitation on single participant (in shares) (no more than) 750,000    
Restricted stock award, not yet vested (in shares) 377,729 405,299 221,622
Unrecognized compensation expense $ 2.3    
Unrecognized compensation expense, recognition weighted average period 1 year 1 month 6 days    
Number of Shares      
Nonvested restricted shares outstanding at beginning of year (in shares) 405,299 221,622 184,190
Granted (in shares) 207,135 339,454 155,982
Forfeited (in shares) (4,345) (36,749) (8,869)
Vested (in shares) (230,360) (119,028) (109,681)
Nonvested restricted shares outstanding at end of year (in shares) 377,729 405,299 221,622
Weighted Average Fair Value at Date of Grant      
Nonvested restricted shares outstanding at beginning of year (in dollars per share) $ 34.96 $ 37.08 $ 40.33
Granted (in dollars per share) 39.10 34.27 35.62
Forfeited (in dollars per share) 33.37 33.98 41.34
Vested (in dollars per share) 35.71 37.15 40.12
Nonvested restricted shares outstanding at end of year (in dollars per share) $ 36.78 $ 34.96 $ 37.08
Nonvested restricted shares granted (in shares) 207,135 339,454 155,982
Restricted Stock Plan | Award Opportunity 2021-2022      
Number of Shares      
Granted (in shares) 179,873    
Weighted Average Fair Value at Date of Grant      
Compensation expense $ 3.5    
Nonvested restricted shares granted (in shares) 179,873    
Restricted Stock Plan | Award Opportunity 2020-2021      
Number of Shares      
Granted (in shares)   266,221  
Weighted Average Fair Value at Date of Grant      
Compensation expense $ 2.1 $ 3.9  
Nonvested restricted shares granted (in shares)   266,221  
Restricted Stock Plan | Award Opportunity 2019-2020      
Number of Shares      
Granted (in shares)     331,150
Weighted Average Fair Value at Date of Grant      
Compensation expense $ 1.3 $ 4.2 $ 5.6
Nonvested restricted shares granted (in shares)     331,150
Restricted Stock Plan | Award Opportunity 2018-2019      
Weighted Average Fair Value at Date of Grant      
Compensation expense     $ 2.2