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Stockholders' Equity - Number of Shares (Details) - shares shares in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Reconciliation of the number of shares outstanding with the number of shares used in computing basic and diluted earnings per share |  |  |  |
Common shares outstanding, end of period | 36,042 | 36,400 | 36,042 | 36,400
Effect of using weighted average common shares outstanding | 254 | 157 | 286 | 204
Shares used in computing earnings per share-basic | 36,296 | 36,557 | 36,328 | 36,604
Effect of shares issuable under stock option plans based on the treasury stock method | 73 | 125 | 100 | 124
Effect of restricted and contingently issuable shares | 65 | 68 | 72 | 69
Shares used in computing earnings per share-diluted | 36,434 | 36,750 | 36,500 | 36,797

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