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Stock Based Compensation - Restricted Stock and Restricted Stock Unit Award Activity (Details)
12 Months Ended
Dec. 31, 2022
USD ($)
factor
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Shares      
Adjustment due to Consensus Separation (in shares)   35,749  
Weighted-Average Grant-Date Fair Value      
Adjustment due to consensus separation (in usd per share) | $ / shares   $ 68.25  
Number of Shares      
Adjustment due to Consensus Separation (in shares)   35,749  
Restricted Stock      
Shares      
Beginning balance (in shares) 383,963 820,566 1,105,059
Granted (in shares) 0 0 1,268
Vested (in shares) (67,762) (435,529) (264,172)
Canceled (in shares) (4,920) (33,194) (21,589)
Adjustment due to Consensus Separation (in shares)   32,120  
Ending balance (in shares) 311,281 383,963 820,566
Weighted-Average Grant-Date Fair Value      
Beginning balance (in usd per share) | $ / shares $ 62.66 $ 62.66 $ 64.76
Granted (in usd per share) | $ / shares 0 0 98.63
Vested (in usd per share) | $ / shares 80.64 60.52 70.25
Canceled (in usd per share) | $ / shares 84.77 83.23 79.34
Adjustment due to consensus separation (in usd per share) | $ / shares   74.62  
Ending balance (in usd per share) | $ / shares $ 59.90 $ 62.66 $ 62.66
Number of Shares      
Granted (in shares) 0 0 1,268
Vested (in shares) (67,762) (435,529) (264,172)
Canceled (in shares) (4,920) (33,194) (21,589)
Adjustment due to Consensus Separation (in shares)   32,120  
Restricted Stock Units (RSUs)      
Shares      
Granted (in shares) 254,215 319,345 210,630
Vested (in shares) (115,523) (124,761) (9,029)
Canceled (in shares) (35,081) (60,201) (12,691)
Adjustment due to Consensus Separation (in shares)   16,576  
Number of Shares      
Beginning balance (in shares) 360,743 209,784 20,874
Granted (in shares) 254,215 319,345 210,630
Vested (in shares) (115,523) (124,761) (9,029)
Canceled (in shares) (35,081) (60,201) (12,691)
Adjustment due to Consensus Separation (in shares)   16,576  
Ending balance (in shares) 464,354 360,743 209,784
Vested and expected to vest (in shares) 334,674    
Weighted-Average Remaining Contractual Life (in Years)      
Outstanding weighted average remaining contractual life (in years) 2 years 7 months 9 days    
Vested and expected to vest weighted average remaining contractual life (in years) 2 years 1 month 13 days    
Aggregate Intrinsic Value      
Outstanding at December 31, 2022 | $ $ 36,730,401    
Vested and expected to vest at December 31, 2022 | $ $ 26,472,675    
Share-based Payment Arrangement, Option      
Aggregate Intrinsic Value      
Incremental award ratio | factor 1.09