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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