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Shareholders’ Equity and Stock Incentive Plans (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 01, 2021 | Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020 | Aug. 03, 2021 | Mar. 12, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  |  | $ 25,000,000
Subsequent Event |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  | $ 50,000,000 |
2015 Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Common stock available for grants of awards (in shares) |  | 2,209,060 |  | 2,209,060 |  |  |
Number of shares available for grant annual increase (in shares) | 1,126,361 |  |  |  |  |  |
Option |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation expense, net |  | $ 0 | $ 500,000 | $ 200,000 | $ 1,100,000 |  |
Stock options, unrecognized share-based compensation expense |  | 0 | 1,000,000.0 | 0 | $ 1,000,000.0 |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  |  | 7 months 6 days |  |
Performance Stock Units (PSUs) |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation expense, net |  | $ 800,000 | 200,000 | $ 2,000,000.0 | $ 700,000 |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  | 2 years 2 months 12 days | 2 years 3 months 18 days |  |
Cancelled (in shares) |  | 77,725 |  | 77,725 |  |  |
Granted (in shares) |  |  |  | 129,503 |  |  |
Number of PSUs granted to each recipient, vested (in shares) |  |  |  | 89,920 |  |  |
Percentage of target number of PSU's eligible to vest at "maximum" performance level |  |  |  | 200.00% |  |  |
Unamortized share-based compensation expense |  | $ 5,700,000 | 5,100,000 | $ 5,700,000 | $ 5,100,000 |  |
Performance Stock Units (PSUs) | November 2017 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Number of PSUs granted to each recipient, eligible to vest (in shares) |  |  |  | 62,791 |  |  |
Performance Stock Units (PSUs) | March 2019 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Number of PSUs granted to each recipient, eligible to vest (in shares) |  |  |  | 14,934 |  |  |
Performance Stock Units (PSUs) | 2019 Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Number of PSUs granted to each recipient, eligible to vest (in shares) |  |  |  | 189,646 |  |  |
Granted (in shares) |  |  |  | 204,580 |  |  |
Number of PSUs granted to each recipient, vested (in shares) |  |  |  | 18,452 |  |  |
Performance Stock Units (PSUs) | 2018 Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Granted (in shares) | 71,468 |  |  |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation expense, net |  | 1,800,000 | 1,100,000 | $ 3,100,000 | $ 2,100,000 |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  | 2 years 2 months 12 days | 2 years 3 months 18 days |  |
Cancelled (in shares) |  |  |  | 5,307 |  |  |
Granted (in shares) |  |  |  | 294,112 |  |  |
Number of PSUs granted to each recipient, vested (in shares) |  |  |  | 419,327 |  |  |
Unamortized share-based compensation expense |  | $ 12,300,000 | $ 9,800,000 | $ 12,300,000 | $ 9,800,000 |  |

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