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Equity Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Restricted stock and deferred restricted stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation costs $ 6,721   $ 6,721  
Recognition period for unrecognized compensation cost     1 year 10 months 17 days  
Restricted Stock Units (RSUs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of equity instruments granted (in shares) 12,604 11,732 44,003 45,433
Service-based restricted stock vesting period 1 year 3 years 1 year 3 years
Grant date fair value of equity instruments granted (usd per share) $ 58.04 $ 65.43 $ 65.41 $ 64.53
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of equity instruments granted (in shares) 32 1,182 33,653 30,641
Grant date fair value of equity instruments granted (usd per share) $ 66.14 $ 65.70 $ 70.35 $ 66.33
Performance Shares | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Target vesting percentage     0.00%  
Performance Shares | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Target vesting percentage     150.00%  
Market-based RSU | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Target vesting percentage     0.00%  
Market-based RSU | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Target vesting percentage     200.00%  
Incentive Plan | Restricted stock and deferred restricted stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares issuable upon exercise of Incentive Plan awards (in shares) 178,820   178,820  
Remaining shares available for issuance under the Incentive Plan (in shares) 615,154   615,154  
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation costs $ 31   $ 31  
Plan expense $ 89 $ 86 $ 182 $ 174