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Stock Incentive Plans - Narrative (Details) shares in Thousands, $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2022 USD ($) contribution shares | Sep. 30, 2021 USD ($) | Sep. 30, 2022 USD ($) contribution shares | Sep. 30, 2021 USD ($) shares | May 31, 2016 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Number of shares authorized (in shares) | shares |  |  |  |  | 2,000
Shares available for grant (in shares) | shares | 693 |  | 693 |  |
Vesting period (in years) |  |  | 3 years |  |
Share-based compensation expense |  |  | $ 8,743 | $ 8,179 |
Stock Options | Continuing Operations |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Unrecognized share-based compensation, net of estimated forfeitures | $ 1,687 |  | $ 1,687 |  |
Weighted average period over which unrecognized compensation will be recognized (years) |  |  | 2 years |  |
Restricted Stock |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period (in years) |  |  | 3 years |  |
Restricted Stock | Continuing Operations |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Unrecognized share-based compensation, net of estimated forfeitures | 9,402 |  | $ 9,402 |  |
Weighted average period over which unrecognized compensation will be recognized (years) |  |  | 2 years |  |
Restricted Stock | Year One |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period (in years) |  |  | 1 year |  |
Vesting percentage |  |  | 33.33% |  |
Restricted Stock | Year Two |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting percentage |  |  | 33.33% |  |
Restricted Stock | Year Three |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting percentage |  |  | 33.33% |  |
Performance Awards |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Measurement period |  |  | 3 years |  |
Performance Awards | Continuing Operations |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Unrecognized share-based compensation, net of estimated forfeitures | $ 3,448 |  | $ 3,448 |  |
Weighted average period over which unrecognized compensation will be recognized (years) |  |  | 2 years |  |
ESPP |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Number of shares authorized (in shares) | shares | 318 |  | 318 |  |
Percentage of shares at market value (in percent) |  |  | 90.00% |  |
Purchase period |  |  | 6 months |  |
Number of lump sum contributions | contribution | 2 |  | 2 |  |
ESPP | Continuing Operations |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares purchased by participants under the ESPP (in shares) | shares |  |  | 5 | 5 |
Share-based compensation expense |  |  | $ 42 | $ 118 |
Director Restricted Shares |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Number of shares authorized (in shares) | shares | 360 |  | 360 |  |
Shares available for grant (in shares) | shares | 60 |  | 60 |  |
Vesting period (in years) |  |  | 1 year |  |
Director Restricted Shares | Continuing Operations |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Unrecognized share-based compensation, net of estimated forfeitures | $ 841 |  | $ 841 |  |
Weighted average period over which unrecognized compensation will be recognized (years) |  |  | 1 year |  |
Share-based compensation expense | $ 321 | $ 318 | $ 1,040 | $ 1,046 |

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