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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