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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