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Summary of Significant Accounting Policies Equity and Accumulated Other Comprehensive Loss Common Share Repurchase (Details) - USD ($)
$ in Thousands
 12 Months Ended
Mar. 06, 2020
Feb. 25, 2020
Feb. 24, 2020
May 07, 2019
May 07, 2019
Dec. 31, 2020
Dec. 31, 2019
Mar. 03, 2020
Oct. 26, 2018
Stock Repurchase Program, Authorized Amount     $ 50,000           $ 50,000
Payments for repurchase of common stock           $ 4,995 $ 50,000    
Stock repurchased and retired during period, shares   364,604              
Period over which shares will be repurchased     18 months            
Accelerated Share Repurchase Agreement [Member]                  
Payments for repurchase of common stock         $ 50,000        
Stock repurchased and retired during period, shares         1,349,528        
Percentage of expected shares repurchased       80.00% 80.00%        
Treasury stock, retired, cost method, amount       $ 40,000          
Equity increase (decrease) related to shares repurchase program.       $ 10,000          
Agreement Letter 10b18 [Member]                  
Stock Repurchase Program, Authorized Amount               $ 5,000  
Treasury stock, retired, cost method, amount $ 4,995                
Total company common shares 242,634                
Treasury shares                  
Treasury stock, retired, cost method, amount   $ 10,000              
Additional Paid-In Capital                  
Treasury stock, retired, cost method, amount   $ 10,000              
Additional Paid-In Capital | Agreement Letter 10b18 [Member]                  
Treasury stock, retired, cost method, amount $ 4,995