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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