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Equity Plans - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Restricted stock and deferred restricted stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation costs | $ 5,660 |  | $ 5,660 |
Recognition period for unrecognized compensation cost |  |  | 1 year 9 months 10 days |
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of equity instruments granted (in shares) | 1,723 | 1,134 | 45,726 | 46,567
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) | $ 62.56 | $ 69.20 | $ 65.31 | $ 64.65
Performance Shares |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of equity instruments granted (in shares) | 2,193 | 0 | 35,846 | 30,641
Grant date fair value of equity instruments granted (usd per share) | $ 69.70 | $ 0.00 | $ 70.31 | $ 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) | 179,848 |  | 179,848 |
Remaining shares available for issuance under the Incentive Plan (in shares) | 612,738 |  | 612,738 |
ESPP |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation costs | $ 131 |  | $ 131 |
Plan expense | $ 94 | $ 91 | $ 276 | $ 265

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