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Consolidated Statements of Stockholders' Equity (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Consolidated Statements of Stockholders' Equity [Abstract] |  |  |
Issuance of stock and related tax withholdings for vested restricted stock units (in shares) | 149,722 | 212,392 | 230,624
Conversion of Class B shares(in shares) |  | 261 | 18
Dividends declared (in dollars per share) | $ 0.385 | $ 0.380 | $ 0.370

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