Annual report pursuant to Section 13 and 15(d)

Shareholders' Equity - Narrative (Details)

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Shareholders' Equity - Narrative (Details)
 2 Months Ended 3 Months Ended 12 Months Ended
Dec. 12, 2017
shares
Feb. 24, 2016
USD ($)
shares
Feb. 28, 2020
USD ($)
shares
Dec. 31, 2019
USD ($)
shares
Dec. 31, 2019
USD ($)
shares
Dec. 31, 2017
shares
Dec. 31, 2018
USD ($)
Stockholders Equity              
Amount authorized for stock repurchase program | $   $ 50,000,000          
Common stock reserved (in shares) | shares       11,800,000 11,800,000    
Income tax effect recorded for currency translation adjustments | $         $ 0    
Treasury stock, value | $       $ 100,784,000 $ 100,784,000   $ 50,000,000
Convertible Class B Stock              
Stockholders Equity              
Class B stock voting rights per share | shares         10    
Conversion ratio for Class B stock to common stock         1.00    
Treasury Stock              
Stockholders Equity              
Number of shares repurchased (in shares) | shares 1,823,000 1,675,000     1,851,000 1,152,000  
Treasury stock repurchased (in shares) | shares       28,000      
Treasury stock, value | $       $ 800,000 $ 800,000    
Treasury Stock | Subsequent Event              
Stockholders Equity              
Treasury stock repurchased (in shares) | shares     282,000        
Treasury stock, value | $     $ 7,700,000