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Incentive Plan - Summary of Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of Shares      
Number of shares, outstanding at beginning of year (in shares) 2,838,867 2,424,032 2,340,842
Number of shares, granted (in shares) 0 699,651 461,407
Number of shares, exercised (in shares) (264,717) (213,506) (227,189)
Number of shares, forfeited (in shares) (1,828) (6,357) (149,158)
Number of shares, expired (in shares) (114,067) (64,953) (1,870)
Number of shares, outstanding at end of year (in shares) 2,458,255 2,838,867 2,424,032
Number of shares, options exercisable at end of year (in shares) 1,583,521 1,596,927 1,612,946
Weighted Average Exercise Price      
Weighted average exercise price, outstanding at beginning of year (in dollars per share) $ 20.67 $ 19.80 $ 18.25
Weighted average exercise price, granted (in dollars per share) 0 20.44 25.20
Weighted average exercise price, exercised (in dollars per share) 14.80 9.50 11.24
Weighted average exercise price, forfeited (in dollars per share) 23.78 21.26 24.71
Weighted average exercise price, expired (in dollars per share) 26.62 22.51 29.59
Weighted average exercise price, outstanding at end of year (in dollars per share) $ 21.02 $ 20.67 $ 19.80