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Shareholders' Equity Stock Incentive Plan and Net Income per Share - Employee Stock Purchase Plan (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |
Share-based compensation | $ 11,033 | $ 11,715 | $ 10,191
Employee Stock Purchase Plan [Member] |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |
Number of shares authorized under the plan | 335,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Purchase Date | 90.00% |  |
Purchase Period for Employee Stock Purchase Plan | 6 months |  |
Number Of Large Lump Sum Contributions Related To ESPP Stock Purchases | 2 |  |
Employee Stock Purchase Plan [Member] | Continuing Operations |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |
Common stock issued under employee stock purchase plan (in shares) | 14,000 | 11,000 | 8,000
Weighted average price of shares purchased (dollars per share) | $ 44.24 | $ 51.50 | $ 50.62
Weighted Average Grant Date Fair Value | $ 20.99 | $ 13.68 | $ 6.26
Share-based compensation | $ 292 | $ 150 | $ 54
Employee Stock Purchase Plan [Member] | Discontinued Operations |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |
Common stock issued under employee stock purchase plan (in shares) | 1 | 1 | 1
Weighted average price of shares purchased (dollars per share) | $ 44.35 | $ 51.39 | $ 50.64
Weighted Average Grant Date Fair Value | $ 18.11 | $ 13.48 | $ 6.27
Share-based compensation | $ 20 | $ 13 | $ 5

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