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Stock Incentive Plan - Narrative (Details) | 12 Months Ended |
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Dec. 31, 2021 USD ($) contribution $ / shares shares | Dec. 31, 2020 USD ($) $ / shares | Dec. 31, 2019 USD ($) $ / shares | May 31, 2016 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized under the plan (in shares) | shares |  |  |  | 2,000,000
Shares available for grant (in shares) | shares | 801,000 |  |  |
Expected life of options (in years) | 7 years |  |  |
Share-based awards, vesting period | 3 years |  |  |
Weighted average remaining contractual term for options outstanding | 3 years |  |  |
Fair value of stock options vested | $ 922,000 | $ 1,377,000 | $ 1,887,000 |
Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Average aggregate intrinsic value for options outstanding | 21,459,000 |  |  |
Average aggregate instrinsic value for exercisable options | 17,677,000 |  |  |
Aggregate intrinsic value of options exercised | 2,137,000 | 1,568,000 | 2,196,000 |
Discontinued Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Fair value of stock options vested | 58,000 | 56,000 | 0 |
Aggregate intrinsic value of options exercised | $ 458,000 | 193,000 | 0 |
Performance Shares |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based awards, vesting period | 3 years |  |  |
Measurement period | 3 years |  |  |
Minimum percentage of shares attainable | 0.00% |  |  |
Maximum percentage of shares attainable | 200.00% |  |  |
Performance Shares | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation cost | $ 3,618,000 |  |  |
Cost not yet recognized, period for recognition | 2 years |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 87.33 |  |  |
Excess tax benefit related to exercise of stock options | $ 911,000 | 2,340,000 | 2,621,000 |
Performance Shares | Discontinued Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Excess tax benefit related to exercise of stock options | $ 95,000 | $ 75,000 | $ 95,000 |
Employee Stock Purchase Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized under the plan (in shares) | shares | 323,000 |  |  |
Percentage of share price for shares issued | 90.00% |  |  |
Purchase period | 6 months |  |  |
Number of lump sum contributions | contribution | 2 |  |  |
Employee Stock Purchase Plan | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 30.68 | $ 20.99 | $ 13.68 |
Employee Stock Purchase Plan | Discontinued Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 0 | $ 18.11 | $ 13.48 |
Non-employee Director Stock Options | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized under the plan (in shares) | shares | 360,000 |  |  |
Shares available for grant (in shares) | shares | 75,000 |  |  |
Employee Stock Option |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based awards, vesting period | 3 years |  |  |
Unrecognized compensation cost | $ 695,000 |  |  |
Cost not yet recognized, period for recognition | 2 years |  |  |
Director Restricted Shares | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation cost | $ 527,000 |  |  |
Cost not yet recognized, period for recognition | 1 year |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 93.39 |  |  |
Grant date fair value of shares that vested during the year | $ 2,514,000 | $ 771,000 | $ 970,000 |
Employee Non-vested Shares | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation cost | $ 7,794,000 |  |  |
Cost not yet recognized, period for recognition | 2 years |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares |  | $ 65.88 | $ 59.49 |
Grant date fair value of shares that vested during the year | $ 8,487,000 | $ 9,180,000 | $ 7,684,000 |
Employee Non-vested Shares | Discontinued Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares |  | $ 63.24 | $ 59.07 |
Grant date fair value of shares that vested during the year | $ 364,000 | $ 625,000 | $ 270,000 |
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based awards, vesting period | 3 years |  |  |
Restricted Stock | Share-based Payment Arrangement, Tranche One |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based awards, vesting period | 1 year |  |  |
Restricted Stock | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 75.35 |  |  |
Restricted Stock | Discontinued Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 0 |  |  |

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