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Stock Award Plans and Stock Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 12 Months Ended |
--- | --- | --- | ---
May 12, 2012 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | May 02, 2012
Stock-Based Compensation |  |  |  |  |
Common stock, par value (in dollars per share) |  | $ 0.001 | $ 0.001 |  |
Stock-Based Compensation Expense |  |  |  |  |
Forfeiture rate (as a percent) |  | 5.00% | 5.00% | 5.00% |
Stock-based compensation expense |  | $ 12,100 | $ 10,500 | $ 8,200 |
Tax deductions in excess of recognized compensation cost |  | 18,700 |  |  |
Tax benefit |  | $ 3,900 |  |  |
Estimated weighted-average assumptions |  |  |  |  |
Weighted-average expected volatility (as a percent) |  | 53.07% |  |  |
Weighted-average expected term |  | 4 years 8 months 15 days |  |  |
Risk-free interest rate |  | 1.22% |  |  |
Expected dividend yield (as a percent) |  | 0.00% |  |  |
Options |  |  |  |  |
Granted (in shares) |  |  | 0 | 0 |
Common Stock |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Number of shares purchased under the plan |  | 26,000 | 41,000 | 54,000 |
Options |  |  |  |  |
Exercised (in shares) |  | (396,000) | (1,001,000) | (775,000) |
Employee Stock Purchase Plan |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Number of shares of common stock originally reserved for future grant |  | 1,000,000.0 |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Purchase price as a percentage of the market value of a common stock on the day the stock is purchased |  | 85.00% |  |  |
Offering period over which compensation expense is amortized |  | 6 months |  |  |
Number of shares purchased under the plan |  | 10,588 |  |  |
Stock-Based Compensation Expense |  |  |  |  |
Stock-based compensation expense |  | $ 200 | $ 200 | $ 200 |
Employee Stock Purchase Plan | Maximum |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Payroll deductions as a percentage of employee's salary |  | 10.00% |  |  |
Restricted Stock Units |  |  |  |  |
Shares/units |  |  |  |  |
Outstanding at the beginning of the period (in shares) |  | 1,089,000 |  |  |
Granted (in shares) |  | 318,000 |  |  |
Vested (in shares) |  | (496,000) |  |  |
Forfeited (in shares) |  | (12,000) |  |  |
Outstanding at the end of the period (in shares) |  | 899,000 | 1,089,000 |  |
Weighted-Average Grant Date Fair Value per Share |  |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  | $ 20.77 |  |  |
Granted (in dollars per share) |  | 38.54 | $ 23.60 | $ 17.08 |
Vested (in dollars per share) |  | 21.32 |  |  |
Forfeited (in dollars per share) |  | 19.76 |  |  |
Outstanding at the end of the period (in dollars per share) |  | $ 26.74 | $ 20.77 |  |
Restricted Stock Units | Employees |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 4 years |  |  |
Restricted Stock Units | Non-employee members of Board of Director |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 6 months |  |  |
Stock Option Awards |  |  |  |  |
Options |  |  |  |  |
Outstanding at the beginning of the period (in shares) |  | 504,000 |  |  |
Granted (in shares) |  | 3,000 |  |  |
Vested (in shares) |  | 0 |  |  |
Exercised (in shares) |  | (396,000) |  |  |
Outstanding at the end of the period (in shares) |  | 111,000 | 504,000 |  |
Exercisable (in shares) |  | 108,000 |  |  |
Options Vested at the end of the period (in shares) |  | 108,000 |  |  |
Weighted Average Exercise Price |  |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  | $ 9.93 |  |  |
Granted (in dollars per share) |  | 61.81 |  |  |
Exercised (in dollars per share) |  | 9.31 |  |  |
Outstanding at the end of the period (in dollars per share) |  | 13.51 | $ 9.93 |  |
Exercisable at the end of the period (in dollars per share) |  | 12.17 |  |  |
Options Vested at the end of the period (in dollars per share) |  | $ 12.17 |  |  |
Weighted Average Remaining Contractual Term |  |  |  |  |
Outstanding at the end of the period |  | 8 months 23 days |  |  |
Exercisable at the end of the period |  | 6 months 21 days |  |  |
Options Vested at the end of the period |  | 6 months 21 days |  |  |
Aggregate Intrinsic Value |  |  |  |  |
Outstanding at the end of the period (in dollars) |  | $ 6,792 |  |  |
Exercisable at the end of the period (in dollars) |  | 6,753 |  |  |
Options Vested at the end of the period (in dollars) |  | 6,753 |  |  |
Additional disclosure |  |  |  |  |
Total intrinsic value of options exercised (in dollars) |  | 12,800 | $ 18,400 | $ 10,900 |
Total fair value of stock options vested (in dollars) |  |  | $ 100 | $ 900 |
Stock Option Awards | Maximum |  |  |  |  |
Additional disclosure |  |  |  |  |
Total forfeiture adjusted unrecognized compensation cost (in dollars) |  | $ 100 |  |  |
Stock Option Awards | Employees |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 4 years |  |  |
Period after termination to exercise awards that were vested |  | 90 days |  |  |
Period after termination to retiring employees to exercise vested awards |  | 1 year |  |  |
Stock Option Awards | Non-employee members of Board of Director |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 6 months |  |  |
Restricted stock |  |  |  |  |
Shares/units |  |  |  |  |
Granted (in shares) |  | 0 | 0 | 0 |
Vested (in shares) |  | 0 | 0 | 0 |
Stock plan 2000 | Maximum |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Number of shares purchased under the plan |  | 100,000 |  | 100,000 |
Equity incentive plan 2012 |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Number of shares of common stock originally reserved for future grant |  |  |  |  | 9,500,000
Common stock, par value (in dollars per share) |  |  |  |  | $ 0.001
Number of shares of common stock available for future grants |  | 1,500,000 |  |  |
Number of shares approved | 7,760,000 |  |  |  |
Shares from expirations or forfeitures | 1,780,000 |  |  |  |
Options |  |  |  |  |
Outstanding at the end of the period (in shares) |  | 100,000 |  |  |
Shares/units |  |  |  |  |
Outstanding at the end of the period (in shares) |  | 900,000 |  |  |
Equity incentive plan 2012 | Restricted Stock Units |  |  |  |  |
Additional disclosure |  |  |  |  |
Total forfeiture adjusted unrecognized compensation cost (in dollars) |  | $ 18,500 |  |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized |  | 2 years 4 months 24 days |  |  |
Equity incentive plan 2012 | Stock Option Awards |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Options Expiration period |  | 7 years |  |  |
Equity incentive plan 2012 | Restricted stock |  |  |  |  |
Shares/units |  |  |  |  |
Granted (in shares) |  | 0 | 0 | 0 |
2000 ESPP and 2020 ESPP | Employee Stock Purchase Plan | Maximum |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Number of shares purchased under the plan |  |  | 100,000 | 100,000 |

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target 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 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target 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 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + 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 (f)(2)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + 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 (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur. + 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 (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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