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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2021
Stockholders' Equity [Abstract]  
Stock Option and Restricted Stock Activity

The following table summarizes stock option and restricted stock activity for the Plans:

        
Stock Options
    
Restricted Shares
  
   
Shares
Available
for Grant
    
Shares
    
Weighted Average
Exercise Price
per Share ($)
    
Shares
    
Weighted Average
Exercise Price
per Share ($)
  
Balance January 1, 2019
    
866,023
      
1,054,259
    
$
54.04
      
134,578
    
$
68.64
  
Granted
    
(388,162
)
    
271,261
      
54.44
      
116,901
      
54.51
  
Exercised/vested
    
—
      
(79,686
)
    
27.26
      
(40,776
)
    
60.79
  
Canceled
    
51,181
      
(18,214
)
    
66.93
      
(32,967
)
    
61.87
  
Balance December 31, 2019
    
529,042
      
1,227,620
      
55.83
      
177,736
      
62.40
  
Authorized
    
1,300,000
      
—
      
—
      
—
      
—
  
Granted
    
(394,290
)
    
286,078
      
57.67
      
108,212
      
56.93
  
Exercised/vested
    
—
      
(93,099
)
    
35.11
      
(43,702
)
    
66.07
  
Canceled
    
97,494
      
(57,233
)
    
63.92
      
(40,261
)
    
65.42
  
Balance December 31, 2020
    
1,532,246
      
1,363,366
      
57.29
      
201,985
      
58.07
  
Granted
    
(358,078
)
    
255,769
      
66.00
      
102,309
      
66.20
  
Exercised/vested
    
—
      
(251,195
)
    
51.12
      
(51,497
)
    
60.40
  
Canceled
    
94,602
      
(37,938
)
    
64.92
      
(56,664
)
    
60.98
  
Balance December 31, 2021
    
1,268,770
      
1,330,002
    
$
59.91
      
196,133
    
$
60.87