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Stock-Based Compensation - Performance-Based Stock Grants (Details) |  | 12 Months Ended |
--- | --- | --- | ---
Sep. 23, 2020 shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2018 USD ($) $ / shares shares | Dec. 31, 2017 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Share based award vesting period |  | 5 years |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Number of share to vest | 0 |  |  |  |
Shares |  |  |  |  |
Nonvested at the beginning of the period (in shares) |  | 79,560 | 81,608 | 72,109 | 112,219
Granted (in shares) |  | 117,279 | 149,496 | 112,502 |
Vested (in shares) |  | (119,327) | (108,610) | (131,260) |
Forfeited or unearned (in shares) |  |  | (31,387) | (21,352) |
Nonvested at the beginning of the period, weighted-average grant-date fair value (in usd per share) | $ / shares |  | $ 8.08 | $ 8.35 | $ 7.76 | $ 7.89
Granted, weighted-average grant-date fair value (in usd per share) | $ / shares |  | 8.34 | 9.38 | 7.81 |
Vested, weighted-average grant-date fair value (in usd per share) | $ / shares |  | $ 8.52 | 9.04 | 8.27 |
Forfeited or unearned, weighted-average grant-date fair value (in usd per share) | $ / shares |  |  | $ 9.55 | $ 8.43 |
Minimum |  |  |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Percentage of number of share earned of target share granted | 50 |  |  |  |
Maximum |  |  |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Percentage of number of share earned of target share granted | 200 |  |  |  |
Shares Underlying Stock Options Excluded | Class A Non-Voting |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Share based award vesting period |  | 3 years |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Stock option vesting per year (percent) |  | 33.00% |  |  |
Shares |  |  |  |  |
Share-based compensation expense | $ |  | $ 617,000 | $ 1,397,000 | $ 1,253,000 |
Unearned compensation cost | $ |  | $ 636,000 |  |  |
2019 Replacement Awards |  |  |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Stock option vesting per year (percent) | 50.00% |  |  |  |
Vesting date | December 31, 2021 |  |  |  |
2019 Replacement Awards | Maximum |  |  |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Total shareholder return | 10 |  |  |  |
2020 Replacement Awards |  |  |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Stock option vesting per year (percent) | 100.00% |  |  |  |
Vesting date | December 31, 2022 |  |  |  |
2020 Replacement Awards | Maximum |  |  |  |  |
Weighted-Average Grant-Date Fair Value |  |  |  |  |
Total shareholder return | 20 |  |  |  |
Performance Stock Grants Excluded because Performance Conditions Have Not Been Met | Class A Non-Voting |  |  |  |  |
Shares |  |  |  |  |
Nonvested at the beginning of the period (in shares) |  | 899,271 | 973,779 | 988,837 | 884,342
Granted (in shares) |  | 1,616,902 | 626,776 | 751,128 |
Vested (in shares) |  | (224,681) | (214,824) | (445,311) |
Forfeited or unearned (in shares) |  | (1,466,729) | (427,010) | (201,322) |
Nonvested at the beginning of the period, weighted-average grant-date fair value (in usd per share) | $ / shares |  | $ 8.19 | $ 8.38 | $ 8.07 | $ 7.05
Granted, weighted-average grant-date fair value (in usd per share) | $ / shares |  | 8.01 | 8.87 | 7.43 |
Vested, weighted-average grant-date fair value (in usd per share) | $ / shares |  | 8.33 | 8.49 | 5.98 |
Forfeited or unearned, weighted-average grant-date fair value (in usd per share) | $ / shares |  | $ 8.10 | $ 8.34 | $ 7.54 |
Fair value of performance shares vested | $ |  | $ 1,871,000 | $ 1,823,000 | $ 2,662,000 |
Share-based compensation expense | $ |  | 2,382,000,000 | $ 1,082,000,000 | $ 3,307,000,000 |
Unearned compensation cost | $ |  | $ 4,999,000,000 |  |  |

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