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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