Annual report pursuant to Section 13 and 15(d)

Shareholders' Equity, Stock Incentive Plan and Net Income per Share - Common and Preferred Stock (Details)

v3.20.4
Shareholders' Equity, Stock Incentive Plan and Net Income per Share - Common and Preferred Stock (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Feb. 05, 2019
shares
Jul. 21, 2016
shares
Dec. 31, 2020
$ / shares
shares
Sep. 30, 2020
$ / shares
Jun. 30, 2020
$ / shares
Mar. 31, 2020
$ / shares
Dec. 31, 2019
$ / shares
shares
Sep. 30, 2019
$ / shares
Jun. 30, 2019
$ / shares
Mar. 31, 2019
$ / shares
Dec. 31, 2018
$ / shares
Sep. 30, 2018
$ / shares
Jun. 30, 2018
$ / shares
Mar. 31, 2018
$ / shares
Dec. 31, 2020
USD ($)
numberOfSegments
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
USD ($)
May 31, 2016
shares
Preferred Stock [Abstract]                                    
Preferred stock, shares authorized     5,000,000       5,000,000               5,000,000 5,000,000    
Preferred stock par value per share | $ / shares     $ 0.01       $ 0.01               $ 0.01 $ 0.01    
Cash Dividends [Abstract]                                    
Quarterly cash dividend per share, common stock | $ / shares     $ 0.21 $ 0.18 $ 0.18 $ 0.18 $ 0.18 $ 0.18 $ 0.18 $ 0.18 $ 0.18 $ 0.15 $ 0.15 $ 0.15        
Repurchase of Common Stock [Abstract]                                    
Repurchase of common stock (repurchase program) | $                             $ 45,248 $ 56,204 $ 66,126  
Common Stock [Member]                                    
Share-based Compensation [Abstract]                                    
Additional authorized shares for employee stock awards     965,000                       965,000     2,000,000
Employee Stock Option [Member]                                    
Share-based Compensation [Abstract]                                    
Expected life of options (in years) | numberOfSegments                             7      
Minimum [Member] | Employee Stock Option [Member]                                    
Share-based Compensation [Abstract]                                    
Option award vesting period                             2 years      
Maximum [Member] | Employee Stock Option [Member]                                    
Share-based Compensation [Abstract]                                    
Option award vesting period                             3 years      
2016 Stock Repurchase Plan [Member] | Common Stock [Member]                                    
Repurchase of Common Stock [Abstract]                                    
Share repurchase program, authorized shares   3,000,000                                
2019 Stock Repurchase Plan [Member] | Common Stock [Member]                                    
Repurchase of Common Stock [Abstract]                                    
Share repurchase program, authorized shares 5,000,000                                  
Stock Repurchased During Period, Shares                             787,000 913,000    
Repurchase of common stock (repurchase program) | $                             $ 45,248 $ 56,204    
Treasury stock acquired, average cost per share | $ / shares                             $ 57.53 $ 61.59    
Remaining shares authorized under share repurchase program                             3,368,000