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Stock Incentive Plan - Employee Stock Purchase Plan (Details) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 USD ($) contribution $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | May 31, 2016 shares
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |  |
Number of shares authorized under the plan (in shares) | shares |  |  |  | 2,000,000
Share-based compensation expense | $ | $ 11,376 | $ 10,913 | $ 11,033 |
Employee Stock Purchase Plan |  |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |  |
Number of shares authorized under the plan (in shares) | shares | 314,000 |  |  |
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 |  |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |  |
Shares purchased by employees (in shares) | shares | 9,000 | 12,000 | 14,000 |
Average purchase price (in dollars per share) | $ / shares | $ 82.48 | $ 75.71 | $ 44.24 |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 9.17 | $ 30.68 | $ 20.99 |
Share-based compensation expense | $ | $ 87 | $ 369 | $ 292 |
Employee Stock Purchase Plan | Discontinued Operations |  |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |  |
Shares purchased by employees (in shares) | shares | 0 | 0 | 1,000 |
Average purchase price (in dollars per share) | $ / shares | $ 0 | $ 0 | $ 44.35 |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 0 | $ 0 | $ 18.11 |
Share-based compensation expense | $ | $ 0 | $ 0 | $ 20 |

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