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Stock-Based Compensation - Performance Share Units and Performance Share Awards (Details) $ / shares in Units, $ in Thousands |  |  |  | 12 Months Ended
--- | --- | --- | --- | ---
Jan. 01, 2021 $ / shares shares | Jan. 01, 2020 $ / shares shares | Jan. 01, 2019 | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares
Stock-based compensation |  |  |  |  |  |
Stock-based compensation expense | $ |  |  |  | $ 10,300 | $ 13,100 | $ 10,000
Performance Share Units |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |
Ratio of common stock for each vested award |  |  |  | 1 |  |
Number of Shares |  |  |  |  |  |
Unvested as of beginning of period (in shares) | 857,282 | 695,316 |  | 942,506 | 857,282 | 695,316
Granted (in shares) |  |  |  | 350,922 | 376,810 | 340,758
Vested (in shares) |  |  |  | (203,855) | (214,163) | (172,167)
Forfeited (in shares) |  |  |  | (135,439) | (77,423) | (6,625)
Unvested as of end of period (in shares) |  |  |  | 954,134 | 942,506 | 857,282
Weighted Average Grant Date Fair Value |  |  |  |  |  |
Unvested as of beginning of period (in dollars per share) | $ / shares | $ 25.43 | $ 26.46 |  | $ 26.70 | $ 25.43 | $ 26.46
Granted (in dollars per share) | $ / shares |  |  |  | 28.57 | 27.07 | 25.96
Vested (in dollars per share) | $ / shares |  |  |  | 27.02 | 22.57 | 29.95
Forfeited (in dollars per share) | $ / shares |  |  |  | 26.63 | 24.62 | 26.13
Unvested as of end of period (in dollars per share) | $ / shares |  |  |  | $ 27.36 | $ 26.70 | $ 25.43
Stock-based compensation |  |  |  |  |  |
Unrecognized compensation expense | $ |  |  |  | $ 7,300 | $ 6,100 | $ 6,200
Period for recognition of unrecognized compensation expense |  |  |  | 1 year 2 months 12 days |  |
Total fair value of vested shares (in dollars) | $ |  |  |  | $ 5,500 | $ 4,800 | $ 5,200
Performance Share Units | Key employees |  |  |  |  |  |
Number of Shares |  |  |  |  |  |
Granted (in shares) |  |  |  | 350,922 | 376,810 | 340,758
Minimum |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |
Performance achieved, percentage of PSUs earned and vested |  |  |  | 0 |  |
Performance achieved, percentage of PSAs earned and vested |  |  |  | 0 |  |
Maximum |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |
Performance achieved, percentage of PSUs earned and vested |  |  |  | 200 |  |
Performance achieved, percentage of PSAs earned and vested |  |  |  | 200 |  |
LongTerm Incentive Plan |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |
Performance period | 3 years | 3 years | 3 years | 3 years |  |

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