Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Reclassification (Details)

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Summary of Significant Accounting Policies - Reclassification (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Increase in common stock value $ 361 $ 358
Decrease in treasury stock $ (60,060) $ (49,373)
Increase in treasury shares (in shares) 5,136,890 5,029,429
Prior Year Adjustments    
Error Corrections and Prior Period Adjustments Restatement [Line Items]    
Increase in common stock value $ 2,000  
Increase in shares issued (in shares) 198,934  
Decrease in treasury stock $ 1,000  
Increase in treasury shares (in shares)   70,708
Decrease in additional paid in capital $ 3,000