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Stock Options - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 12 Months Ended
--- | --- | --- | ---
May 02, 2019 | May 07, 2015 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Option term (years) |  |  | 10 years |  |
Qualified Stock Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Weighted average grant date fair value of options granted (in dollars per share) |  |  | $ 52.7 | $ 59.01 | $ 38.33
Stock option expense |  |  | $ 0.6 | $ 0.6 | $ 0.5
Total unrecognized compensation cost related to non-vested share-based compensation arrangements |  |  | $ 1.3 |  |
Period cost is expected to be recognized (years) |  |  | 5 years |  |
Granted (in shares) |  |  | 17,625 | 18,900 | 13,950
Exercise of stock options (in shares) |  |  | 14,780 | 30,210 | 31,300
Non Qualified Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option expense |  |  | $ 0.0 | $ 0.0 | $ 0.0
Total unrecognized compensation cost related to non-vested share-based compensation arrangements |  |  | $ 0.0 |  |
Granted (in shares) |  |  | 0 | 0 | 0
Exercise of stock options (in shares) |  |  | 1,000 | 1,000 | 2,300
Proceeds from stock options exercised |  |  | $ 0.1 | $ 0.1 | $ 0.1
Restricted Stock Units (RSUs) |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option expense |  |  | 4.9 | $ 5.4 | $ 3.7
Total unrecognized compensation cost related to non-vested share-based compensation arrangements |  |  | $ 7.0 |  |
Weighted average remaining contractual life (years) |  |  | 1 year 4 months 28 days | 1 year 7 months 9 days | 1 year 11 months 12 days
Restricted Stock Units (RSUs) | Granted after 2020 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) |  |  |  |  | 3 years
Restricted Stock Units (RSUs) | Year One after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) |  |  | 3 years |  |
Restricted Stock |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  |  | 50.00% |  |
Performance Shares |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  |  | 50.00% |  |
Performance period |  |  | 3 years |  |
Option term (years) |  |  | 3 years |  |
2015 ISO Plan | Qualified Stock Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares of common stock reserved for options to be issued (in shares) |  | 400,000 |  |  |
2015 ISO Plan | Qualified Stock Options | Year One after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) |  | 1 year |  |  |
2015 ISO Plan | Qualified Stock Options | Year One after Grant Date | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Two after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Three after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Four after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Five after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2009 Equity Incentive Plan | Non Qualified Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares of common stock reserved for options to be issued (in shares) | 500,000 |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year One after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) | 1 year |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year One after Grant Date | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Two after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Three after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Four after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Five after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |

X
- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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