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Stock-Based Compensation - Narrative (Details)
$ in Thousands
12 Months Ended
Sep. 28, 2020
shares
Dec. 31, 2022
USD ($)
employeePopulation
shares
Dec. 31, 2021
USD ($)
shares
Dec. 31, 2020
USD ($)
May 31, 2020
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Common stock available for grant (in shares) | shares   11,180,911      
Stock-based compensation expense   $ 16,375 $ 16,560 $ 12,897  
Deferred tax benefit from stock-based compensation   4,497 $ 4,409 2,134  
Unrecognized compensation cost related to nonvested awards   $ 15,396      
Recognition period, weighted average   1 year 5 months 12 days      
Entity shares issued per acquiree share (in shares) | shares 0.88        
Number of distinct employee populations | employeePopulation   2      
Options outstanding (in shares) | shares   2,262,845 2,990,094    
Tax impact from option exercises   $ 463 $ 960 328  
Board Approved Share Increase          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares approved for increase in available for issuance (in shares) | shares         10,775,000
Anti-Dilutive Options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Award conversation ratio   1      
Intrinsic value of options exercised   $ 1,825 5,027 1,263  
Cash received from option exercises   $ 1,197 $ 5,087 $ 2,052  
Expected term in years   5 years 6 months 0 years 5 years 1 month 9 days  
Award vesting period   3 years      
Anti-Dilutive Options | Director          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Options outstanding (in shares) | shares   461,994      
Award vesting period   1 year      
Anti-Dilutive Options | Employee          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Options outstanding (in shares) | shares   1,800,851      
Anti-Dilutive Restricted Stock Units          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vested (in shares) | shares   1,076,534      
Fair value of RSUs granted during the year   $ 16,852 $ 12,603 $ 10,619  
Fair value of restricted stock units vested during the year   $ 11,811 9,249 4,798  
Anti-Dilutive Restricted Stock Units | Director          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Award vesting period   1 year      
Anti-Dilutive Performance Share Units          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Award conversation ratio   1.62      
Vested (in shares) | shares   72,353      
Fair value of RSUs granted during the year   $ 7,726 7,634 3,826  
Fair value of performance share units vested   $ 949 $ 6,206 $ 1,926  
Anti-Dilutive Performance Share Units | Granted in 2016-2019          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Award vesting period   5 years      
Anti-Dilutive Performance Share Units | Granted in 2020          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Award vesting period   3 years