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Common Stock and Earnings per Share - Additional Information (Details)	12 Months Ended
	Dec. 31, 2020 shares	Dec. 31, 2020 $ / shares shares	Dec. 31, 2020 shares	Dec. 31, 2020 classofstock shares	Dec. 31, 2019 $ / shares shares	May 09, 2019 shares	Jul. 29, 2017 shares
Equity, Class of Treasury Stock
Number of classes of common stock			2	2
Average cost (USD per share) | $ / shares		$ 8.42
Class A Non-Voting
Equity, Class of Treasury Stock
Approval rate to waive equal consideration rights			75.00%
Shares repurchased (shares)	155,351
Class A Non-Voting | Stock Purchase Agreement
Equity, Class of Treasury Stock
Shares repurchased (in shares)					421,427
Class A Non-Voting | Repurchase Authorization2017
Equity, Class of Treasury Stock
Shares repurchased (shares)					1,103,398
Average cost (USD per share) | $ / shares					$ 9.33
Common Stock | Repurchase Authorization2017
Equity, Class of Treasury Stock
Number of shares authorized to be repurchased (shares)							2,000,000
Common Stock | Repurchase Authorization 2019
Equity, Class of Treasury Stock
Number of shares authorized to be repurchased (shares)						2,000,000
Number of shares remaining to be repurchased (shares)	642,097	642,097	642,097	642,097	958,907
Class B Voting
Equity, Class of Treasury Stock
Shares repurchased (shares)	161,459
Class B Voting | Stock Purchase Agreement
Equity, Class of Treasury Stock
Shares repurchased (in shares)					1,376,889
Class B Voting | Repurchase Authorization2017
Equity, Class of Treasury Stock
Shares repurchased (shares)					1,736,011
Average cost (USD per share) | $ / shares					$ 9.17

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