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Stock Incentive Plan - Narrative (Details) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 USD ($) contribution $ / shares shares | Dec. 31, 2022 USD ($) $ / shares | Dec. 31, 2021 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 | 581,000 |  |  |
Expected life of options (in years) | 7 years |  |  |
Share-based awards, vesting period (in years) | 3 years |  |  |
Weighted average remaining contractual term for options outstanding (in years) | 3 years |  |  |
Weighted-average remaining contractual term exercisable (in years) | 2 years |  |  |
Fair value of stock options vested | $ 0 | $ 855 | $ 922 |
Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Average aggregate intrinsic value for options outstanding | 900 |  |  |
Aggregate intrinsic value of options exercised | $ 0 | 142 | 2,137 |
Performance Shares |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Measurement period (in years) | 3 years |  |  |
Minimum percentage of shares attainable | 0.00% |  |  |
Maximum percentage of shares attainable | 200.00% |  |  |
Excess tax benefit related to exercise of stock options | $ 2,518 | $ 1,012 | $ 1,006 |
Performance Shares | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation cost | $ 2,434 |  |  |
Cost not yet recognized, period for recognition (in years) | 2 years |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 120.27 |  |  |
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 | 302,000 |  |  |
Percentage of share price for shares issued | 90.00% |  |  |
Purchase period (in years) | 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 | $ 7.76 | $ 9.17 | $ 30.68 |
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 | $ 7.76 | $ 9.17 | $ 30.68 |
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 | 47,000 |  |  |
Employee Stock Option |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based awards, vesting period (in years) | 3 years |  |  |
Unrecognized compensation cost | $ 2,148 |  |  |
Cost not yet recognized, period for recognition (in years) | 2 years |  |  |
Director Restricted Shares | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation cost | $ 464 |  |  |
Cost not yet recognized, period for recognition (in years) | 1 year |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares | $ 96.10 |  |  |
Grant date fair value of shares that vested during the year | $ 1,424 | $ 1,436 | $ 2,514 |
Employee Non-vested Shares | Continuing Operations |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Unrecognized compensation cost | $ 8,207 |  |  |
Cost not yet recognized, period for recognition (in years) | 2 years |  |  |
Weighted-average fair value of each purchase (in dollars per share) | $ / shares |  |  | $ 75.37 |
Grant date fair value of shares that vested during the year | $ 7,833 | $ 9,246 | $ 8,232 |
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Share-based awards, vesting period (in years) | 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 (in years) | 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 | $ 114.46 | $ 105.52 |  |
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 | $ 115.42 | $ 106.29 | $ 75.05 |
Grant date fair value of shares that vested during the year | $ 701 | $ 558 | $ 619 |

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