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Equity Plans - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Jan. 31, 2022
Option Indexed to Issuer's Equity [Line Items]        
Fair value of restricted stock awards $ 3,332 $ 3,333 $ 2,420  
Performance-based and market-based restricted stock awards issued (in shares) 7,327 5,327 6,120  
Performance-based and market-based restricted stock awards vested (in shares) 15,577      
Performance-based and market-based restricted stock awards outstanding (in shares) 51,160      
Shares issued during the period under the plan 35,304 31,750 30,255  
Restricted stock and deferred restricted stock        
Option Indexed to Issuer's Equity [Line Items]        
Unrecognized compensation cost $ 4,421      
Period for recognition of compensation cost 1 year 6 months 21 days      
Performance Shares | Minimum        
Option Indexed to Issuer's Equity [Line Items]        
Range of shares issuable 0.00%      
Performance Shares | Maximum        
Option Indexed to Issuer's Equity [Line Items]        
Range of shares issuable 150.00%      
Market-based RSU | Minimum        
Option Indexed to Issuer's Equity [Line Items]        
Range of shares issuable 0.00%      
Market-based RSU | Maximum        
Option Indexed to Issuer's Equity [Line Items]        
Range of shares issuable 200.00%      
Incentive Plan | Restricted stock and deferred restricted stock        
Option Indexed to Issuer's Equity [Line Items]        
Number of shares available for issuance (in shares) 685,193      
Employee Stock Purchase Plan        
Option Indexed to Issuer's Equity [Line Items]        
Purchase price of common stock to employees under the plan, percent 85.00%      
Maximum percent of base salary employees can designate for share purchase under the plan 10.00%      
Expenses recorded under the plan $ 361 $ 342 $ 294  
Employee Stock Purchase Plan | Subsequent Event        
Option Indexed to Issuer's Equity [Line Items]        
Unrecognized compensation cost       $ 162
Common Stock | Incentive Plan        
Option Indexed to Issuer's Equity [Line Items]        
Number of shares reserved for issuance under the plan (in shares) 1,800,000      
Maximum number of shares per employee (in shares) 600,000      
Shares issued pursuant to the plan (in shares) 946,086 880,495 819,340  
Shares issuable under the plan upon exercise of outstanding awards (in shares) 168,721 178,106 174,764  
Common Stock | Employee Stock Purchase Plan        
Option Indexed to Issuer's Equity [Line Items]        
Number of shares reserved for issuance under the plan (in shares) 400,000      
Number of shares available for issuance (in shares) 185,509