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Stockholders' Equity - Narrative (Details) - USD ($) |  | 3 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Oct. 22, 2021 | Sep. 30, 2021 | Sep. 30, 2021 | Sep. 30, 2020 | Jul. 16, 2021 | Jan. 24, 2020 | Apr. 23, 2018
Class of Stock [Line Items] |  |  |  |  |  |  |
Shares withheld for tax withholding and exercise of options (in shares) |  |  | 27,679 | 9,214 |  |  |
Amount of shares withheld for tax withholding and exercise of options |  |  | $ 1,100,000 | $ 369,000 |  |  |
Shares withheld for tax withholding and exercise of options, weighted average price (in usd per share) |  |  | $ 38.86 | $ 40.01 |  |  |
Share repurchase program, amount approved to repurchase |  |  |  |  | $ 25,000,000 | $ 25,000,000 | $ 25,000,000
Stock repurchased, net of commissions |  | $ 15,902,000 | $ 35,165,000 | $ 3,230,000 |  |  |
Common Stock |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Stock repurchased, net of commissions (in shares) |  | 445,735 | 967,683 | 92,664 |  |  |
Stock repurchased, net of commissions |  | $ 15,902,000 | $ 35,165,000 | $ 3,230,000 |  |  |
Subsequent event |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Dividends declared per common share (in usd per share) | $ 0.24 |  |  |  |  |  |
Share repurchase program, amount approved to repurchase | $ 57,000,000 |  |  |  |  |  |
Performance-based stock awards |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Vesting period of performance-based stock awards |  |  | 3 years |  |  |  |
Performance-based stock awards | Minimum |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Vesting percentage of performance-based awards |  |  | 0.00% |  |  |  |
Performance-based stock awards | Maximum |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Vesting percentage of performance-based awards |  |  | 200.00% |  |  |  |

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