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Stockholders' Equity - Number of Shares (Details) - shares
shares in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
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 35,770 35,781 35,770 35,781
Effect of using weighted average common shares outstanding 52 189 47 241
Shares used in computing earnings per share-basic 35,822 35,970 35,817 36,022
Effect of shares issuable under stock option plans based on the treasury stock method 26 42 26 42
Effect of restricted and contingently issuable shares 58 61 64 66
Shares used in computing earnings per share-diluted 35,906 36,073 35,907 36,130