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Equity Compensation Plans - Stock-Based Compensation Expense (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-Based Payment Arrangement [Abstract] |  |  |
Stock-based compensation expense | $ 27,243 | $ 21,400 | $ 25,237
Total compensation cost related to unvested awards not yet recognized | $ 36,200 |  |
Stock based compensation expense period | 1 year 9 months 18 days |  |
Deferred income tax benefit related to stock-based compensation expense | $ 5,700 | 4,900 | 5,800
Income tax benefit realized for the tax deductions from stock-based compensation | $ 4,500 | $ 4,400 | $ 4,000

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