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Summary of Significant Accounting Policies - Earnings Per Share (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Numerator (for basic and diluted earnings per share)        
Income from continuing operations, net of tax $ 58,366 $ 63,973 $ 63,082 $ 39,263
Less income allocated to RSUs (1,337) (1,748) (738) (921)
Less preferred stock dividends (12,577) 0 (36,796) 0
Numerator for basic and diluted earnings per share $ 44,452 $ 62,225 $ 25,548 $ 38,342
Denominator        
Basic weighted-average shares outstanding 82,482 81,522 82,258 81,340
Effect of dilutive securities:        
Restricted stock units 797 566 880 279
Common stock warrant 6,852 0 3,764 0
Diluted weighted-average shares outstanding 90,131 82,088 86,902 81,619