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Shareholders’ Equity and Stock Incentive Plans - Additional Information (Details) - USD ($) |  | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 01, 2021 | Sep. 30, 2021 | Mar. 31, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Aug. 03, 2021 | Mar. 12, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  |  | $ 50,000,000 | $ 25,000,000
2015 Plan |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock available for grants of awards (in shares) |  | 2,195,658 |  |  | 2,195,658 |  |  |
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 | $ 1,600,000 |  |
Stock options, unrecognized share-based compensation expense |  | 0 |  | 500,000 | 0 | $ 500,000 |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  |  |  | 4 months 24 days |  |
Performance Stock Units (PSUs) |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Share-based compensation expense, net |  | $ 800,000 |  | 1,100,000 | $ 2,700,000 | $ 1,800,000 |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  |  | 2 years | 2 years 1 month 6 days |  |
Cancelled (in shares) |  | 77,725 |  |  | 77,725 |  |  |
Granted (in shares) |  |  |  |  | 129,503 |  |  |
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 |  | $ 5,000,000 |  | 4,000,000 | $ 5,000,000 | $ 4,000,000 |  |
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 |  |  |  |  |
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 |  |  |  |  |  |  |
Vested (in shares) |  |  | 71,468 |  |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Share-based compensation expense, net |  | 2,200,000 |  | 1,900,000 | $ 5,300,000 | $ 4,000,000 |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  |  | 2 years | 2 years 1 month 6 days |  |
Cancelled (in shares) |  |  |  |  | 16,149 |  |  |
Granted (in shares) |  |  |  |  | 318,356 |  |  |
Vested (in shares) |  |  |  |  | 426,770 |  |  |
Unamortized share-based compensation expense |  | $ 10,900,000 |  | $ 7,900,000 | $ 10,900,000 | $ 7,900,000 |  |

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