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Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Stock-based compensation expense recognized |  | $ 6,605 | $ 5,276 | $ 6,108
Unrecognized Compensation Cost |  | $ 3,400 |  |
Expiration date of 2007 Stock Incentive Plan |  | May 20, 2024 |  |
Restricted Stock Units [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Stock-based compensation expense recognized |  | $ 6,396 | $ 5,061 | $ 5,931
Unrecognized Compensation Cost |  | $ 3,400 |  |
Weighted Average Remaining Amortization Periods |  | 10 months 24 days |  |
Number of units [Abstract] |  |  |  |
Balance (in shares) |  | 793,000 | 842,000 | 904,000
Granted (in shares) |  | 319,000 | 272,000 | 314,000
Vested (in shares) | [1] | (235,000) | (308,000) | (361,000)
Cancelled or forfeited (in shares) |  | 0 | (13,000) | (15,000)
Balance (in shares) |  | 877,000 | 793,000 | 842,000
Expected to vest (in shares) |  | 877,000 | 793,000 | 842,000
Weighted Average Grant-date Fair Value per Unit [Abstract] |  |  |  |
Beginning balance, Weighted average grant-date fair value (in dollars per share) |  | $ 18.90 | $ 17.93 | $ 14.77
Granted, Weighted average grant-date fair value (in dollars per share) |  | 22.07 | 18.30 | 19.85
Vested, Weighted average grant-date fair value (in dollars per share) | [1] | 18.79 | 15.70 | 11.70
Cancelled or forfeited, Weighted average grant date fair value (in dollars per share) |  | 0 | 19.06 | 17.71
Ending balance, Weighted average grant-date fair value (in dollars per share) |  | $ 20.08 | $ 18.90 | $ 17.93
Phantom Stock Units [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Stock-based compensation expense recognized |  | $ 209 | $ 215 | $ 177
Unrecognized Compensation Cost |  | $ 0 |  |
Weighted Average Remaining Amortization Periods |  | 0 years |  |
Number of units [Abstract] |  |  |  |
Balance (in shares) |  | 198,000 | 183,000 | 170,000
Granted (in shares) |  | 10,000 | 10,000 | 10,000
Dividend equivalents issued (in shares) |  | 4,000 | 5,000 | 3,000
Balance (in shares) |  | 212,000 | 198,000 | 183,000
Weighted Average Grant-date Fair Value per Unit [Abstract] |  |  |  |
Granted, Weighted average grant-date fair value (in dollars per share) |  | $ 20.89 | $ 21.49 | $ 17.72
Performance Vested Restricted Stock Units [Member] | Scheduled to Vest January 1, 2022 [Member] |  |  |  |
Number of units [Abstract] |  |  |  |
Balance (in shares) | [2] | 174,000 |  |
Expected to vest (in shares) | [2] | 174,000 |  |
Not expected to vest (in shares) | [2] | 0 |  |
Performance Vested Restricted Stock Units [Member] | Scheduled to Vest January 1, 2023 [Member] |  |  |  |
Number of units [Abstract] |  |  |  |
Balance (in shares) |  | 152,000 |  |
Expected to vest (in shares) |  | 152,000 |  |
Not expected to vest (in shares) |  | 0 |  |
Performance Vested Restricted Stock Units [Member] | Scheduled to Vest January 1, 2024 [Member] |  |  |  |
Number of units [Abstract] |  |  |  |
Balance (in shares) |  | 165,000 |  |
Expected to vest (in shares) |  | 165,000 |  |
Not expected to vest (in shares) |  | 0 |  |
2007 Stock Incentive Plan [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |
Maximum number of shares authorized under restricted stock, unrestricted stock, RSU's and stock options to officers, employees and non-employee directors (in shares) |  | 6,500,000 |  |
Exercisable (in shares) |  |  |  |
Available for future grants (in shares) |  | 1,975,000 |  |
[1] | The number of RSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.
[2] | The performance vesting criteria for the performance-based RSUs with a vesting date of January 1, 2022 were achieved.

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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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