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Stock-Based Compensation - Expense (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Stock-based compensation |  |  |
Stock-based compensation expense | $ 13.1 | $ 10.0 | $ 7.8
Related income tax benefit of stock-based compensation | $ 3.1 | $ 2.4 | $ 2.0
Employee stock-based compensation plan |  |  |
Stock-based compensation |  |  |
Total shares authorized | 5,600,000 |  |
Shares available for future grants | 3,300,000 |  |
Non-employee director plan |  |  |
Stock-based compensation |  |  |
Total shares authorized | 268,941 |  |
Shares available for future grants | 178,161 |  |

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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + 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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