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Stock-Based Compensation Compensation Expense and Related Tax Benefits (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Share-based Payment Arrangement [Abstract] |  |  |  |
Compensation expense | $ 2,098 | $ 1,911 | $ 4,000 | $ 3,530
Tax benefit | (457) | (403) | (870) | (747)
Stock-based compensation expense, net of tax benefit | $ 1,641 | $ 1,508 | $ 3,130 | $ 2,783

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