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Stock-based Compensation - Employee Stock Purchase Plan (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 12 Months Ended
--- | --- | ---
May 09, 2018 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based compensation arrangement by share-based payment award, maximum purchases per subscription period, shares (in shares) | 500 |  |  |
Aggregate number of shares of common stock issued or transferred under the incentive stock awards plan (in shares) |  | 2,558,933 |  |
Employee Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
ESPP purchase price of common stock, percent of market price, on first and last day of trading date | 85.00% |  |  |
Fixed contribution rate | 10.00% |  |  |
Maximum contribution amount | $ 25 |  |  |
Compensation cost for ESPP |  | $ 400 | $ 600 | $ 500
Number of shares issued under the ESPP |  | 38,044 | 52,107 | 46,642
Weighted average grant date fair value (in dollars per share) |  | $ 39.62 | $ 38.55 | $ 42.07
Aggregate number of shares of common stock issued or transferred under the incentive stock awards plan (in shares) |  | 37,270 |  |
Employee Stock | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Compensation cost for ESPP |  |  | $ 300 | $ 200

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- Definition Share-Based Compensation Arrangement By Share-Based Payment Award, Maximum Purchases Per Subscription Period, Shares + References No definition available. + Details
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- Definition Amount of expense for employee benefit and equity-based compensation. + References No definition available. + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Number of shares issued under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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