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Shareholders’ Equity and Stock Incentive Plans - Additional Information (Details) - USD ($) |  | 1 Months Ended | 3 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Jan. 01, 2022 | Mar. 31, 2022 | Dec. 31, 2021 | Mar. 31, 2022 | Mar. 31, 2021 | May 03, 2022 | Aug. 03, 2021 | Mar. 12, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  |  | $ 50,000,000 | $ 25,000,000
Shares repurchased (in shares) |  | 268,791 | 226,485 |  |  |  |  |
Common stock price per share (USD per share) |  | $ 56.54 | $ 46.87 | $ 56.54 |  |  |  |
Shares repurchased, value |  |  |  | $ 15,196,000 |  |  |  |
Stock repurchase, remaining authorized repurchase amount |  | $ 24,200,000 |  | $ 24,200,000 |  |  |  |
Common stock available for grants of awards (in shares) |  | 3,152,416 |  | 3,152,416 |  |  |  |
Number of shares available for grant annual increase (in shares) | 1,153,210 |  |  |  |  |  |  |
Accumulated Deficit |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares repurchased, value |  | $ 15,200,000 | $ 10,600,000 | $ 15,194,000 |  |  |  |
Option |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Share-based compensation expense, net |  |  |  | 0 | $ 200,000 |  |  |
Stock options, unrecognized share-based compensation expense |  | 0 |  | 0 | 0 |  |  |
PSUs |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Share-based compensation expense, net |  |  |  | $ 1,500,000 | 1,200,000 |  |  |
Percentage of target number of PSU's eligible to vest at "maximum" performance level |  |  |  | 200.00% |  |  |  |
Granted (in shares) |  |  |  | 83,579 |  |  |  |
Unamortized share-based compensation expense |  | 11,300,000 |  | $ 11,300,000 | $ 6,200,000 |  |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  | 2 years 2 months 12 days | 2 years 4 months 24 days |  |  |
PSUs | March 2019 |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Granted (in shares) |  |  |  | 171,194 |  |  |  |
PSUs | March 2020 |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Granted (in shares) |  |  |  | 76,186 |  |  |  |
RSUs |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Share-based compensation expense, net |  |  |  | $ 1,600,000 | $ 1,300,000 |  |  |
Granted (in shares) |  |  |  | 97,447 |  |  |  |
Unamortized share-based compensation expense |  | $ 12,500,000 |  | $ 12,500,000 | $ 11,300,000 |  |  |
Share-based compensation expense not yet recognized, weighted-average period for recognition |  |  |  | 2 years 2 months 12 days | 2 years 4 months 24 days |  |  |
Subsequent Event |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock repurchase, authorized |  |  |  |  |  | $ 50,000,000 |  |

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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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