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Stock Repurchase Program (Details) - USD ($)
$ in Millions
 1 Months Ended 3 Months Ended 9 Months Ended
Nov. 30, 2019
Feb. 28, 2019
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
May 31, 2019
February 2019 Plan            
Class of Stock [Line Items]            
Shares repurchased and retired during period (in shares)   100,000        
Stock repurchased during period, value   $ 1.6        
May 2019 Plan            
Class of Stock [Line Items]            
Stock repurchased during period, value     $ 2.3 $ 1.2 $ 7.2  
Number of shares authorized for repurchase (up to) (in shares)           1,000,000
Shares repurchased during period (in shares)     186,369 169,602 436,369  
Remaining number of shares authorized to be repurchased (in shares)       395,029    
November 2019 Plan            
Class of Stock [Line Items]            
Shares repurchased and retired during period (in shares) 200,000          
Stock repurchased during period, value $ 2.0