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Retirement Plans and Employee Stock Purchase Plans - Employee Stock Purchase Plans (Details) - USD ($) $ / shares in Units, shares in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Employee Stock Purchase Plans |  |  |
Service period required to be completed for an employee to be eligible to participate in plan, minimum | 90 days |  |
Ownership interest in Company common stock to disqualify employee from participation in plan, maximum (as a percent) | 5.00% |  |
Maximum percentage of base salary which can be contributed by the employees | 15.00% |  |
Maximum amount of base salary which can be contributed annually by the employees | $ 25,000 |  |
Discount rate at which common stock can be purchased by the plan participant (as a percent) | 5.00% |  |
Summary of purchases made under the 2010 and 1995 Employee Stock Purchase Plans |  |  |
Number of shares purchased | 63,962 | 65,512 | 65,148
Average price of shares purchased (in dollars per share) | $ 39.70 | $ 42.45 | $ 48.58
2009 Stock Purchase Plan |  |  |
Summary of purchases made under the 2010 and 1995 Employee Stock Purchase Plans |  |  |
Stock based compensation expense | $ 0 | $ 0 | $ 0

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- Definition The maximum ownership interest in the Company's common stock to disqualify the employee from participation in the plan. + References No definition available. + Details
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- Definition The maximum amount of base salary that an employee is permitted to utilize with respect to the plan. + References No definition available. + Details
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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=122041274&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Discount rate from fair value on purchase date that participants pay for shares. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Per share weighted-average price paid for shares purchased on open market for issuance under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901 + Details
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