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Stockholders' Equity and Stock Plans (Tables)
 12 Months Ended
Dec. 31, 2020
Equity [Abstract]  
Schedule of Information of Cashless Exercise Prices The table below depicts the total number of shares, amount, and weighted average price withheld for cashless exercises in each of the respective years.
202020192018
Number of shares withheld10,001 7,795 46,794 
Total amount withheld (in thousands)$398 $326 $1,698 
Weighted-average price$39.83 $41.84 $36.28 
Schedule of Share-based Compensation, Stock Options, Activity
A summary of stock option activity for the years ended December 31, 2020, 2019, and 2018 is presented in the following table. The intrinsic value of options outstanding and exercisable is calculated as the number of in-the-money options times the difference between the market price of our stock and the exercise prices of the in-the-money options as of each year-end period presented.
Number of SharesWeighted Average Exercise Price Aggregate Intrinsic Value
(in thousands)		Weighted Average Grant-Date Fair ValueWeighted Average Remaining Contractual Term
(in years)
Options outstanding at December 31, 2017517,936 $20.42 $7,075 5.34
Granted74,096 33.97 $7.17 
Cancelled, expired or forfeited(9,140)28.25 
Exercised(157,192)13.93 3,462 
Options outstanding at December 31, 2018425,700 25.01 6,910 5.85
Exercisable (vested) at December 31, 2018311,050 22.57 5,809 4.94
Options outstanding at December 31, 2018425,700 25.01 6,910 5.85
Granted53,370 44.01 9.37 
Cancelled, expired or forfeited(13,580)38.88 
Exercised(48,108)16.11 1,247 
Options outstanding at December 31, 2019417,382 28.01 7,112 5.50
Exercisable (vested) at December 31, 2019333,870 25.34 6,581 4.76
Options outstanding at December 31, 2019417,382 28.01 7,112 5.50
Granted44,632 39.18 6.84 
Cancelled, expired or forfeited(17,222)40.31 
Exercised(73,208)22.26 1,370 
Options outstanding at December 31, 2020371,584 29.92 2,262 5.12
Exercisable (vested) at December 31, 2020315,377 28.05 2,254 4.53
Schedule of Unrecognized Compensation Cost, Nonvested Awards
The following table summarizes non-vested restricted stock awards and changes during the years ended December 31, 2020, 2019, and 2018.
Number of SharesWeighted Average Grant-Date Fair Value
Non-vested awards at December 31, 201791,216 $28.16 
Granted37,040 33.58 
Vested(28,812)26.06 
Cancelled or forfeited(12,056)27.32 
Non-vested awards at December 31, 201887,388 31.26 
Granted29,110 44.45 
Vested(28,099)27.88 
Cancelled or forfeited(18,333)32.34 
Non-vested awards at December 31, 201970,066 37.81 
Granted29,100 40.10 
Vested(23,524)36.35 
Cancelled or forfeited(14,314)37.63 
Non-vested awards at December 31, 202061,328 39.50 
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range
A summary of the options outstanding and exercisable by price range as of December 31, 2020 is presented in the following table:
Stock Options Outstanding as of December 31, 2020 Stock Options Exercisable as of December 31, 2020
Range of Exercise PricesStock Options OutstandingRemaining Contractual Life (in years)Weighted Average Exercise PriceStock Options ExercisableWeighted Average Exercise Price
$10.01 - $20.00
48,962 1.3$19.24 48,962 $19.24 
$20.01 - $30.00
138,394 3.6$23.92 138,394 $23.92 
$30.01 - $40.00
108,818 6.5$33.75 97,960 $33.77 
$40.01 - $50.00
75,410 8.4$42.33 30,061 $42.84 
371,584 315,377 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions
We determine the fair value of stock options at the grant date using the Black-Scholes pricing model that takes into account the stock price at the grant date, exercise price, and the following assumptions (weighted-average shown).
Years ended December 31,
202020192018
Risk-free interest rate0.91 %2.51 %2.60 %
Expected dividend yield on common stock2.38 %1.75 %1.76 %
Expected life in years6.15.85.9
Expected price volatility24.43 %22.71 %22.47 %
Summary of Cash Dividends Paid to Common Shareholders
Presented below is a summary of cash dividends paid in 2020, 2019 and 2018 to common shareholders, recorded as a reduction from retained earnings. On January 22, 2021, the Board of Directors declared a $0.23 per share cash dividend, paid February 12, 2021 to the shareholders of record at the close of business on February 5, 2021.
 Years ended December 31,
(in thousands except per share data)202020192018
Cash dividends to common stockholders$12,506 $10,958 $8,860 
Cash dividends per common share$0.92 $0.80 $0.64 
Schedule of Share Repurchases
Shares repurchased pursuant to our common stock share repurchase programs during 2020, 2019, and 2018, were as follows.
(dollars in millions)
2020 1
20192018Cumulative Totals
Total number of common shares repurchased203,709356,000171,217730,926
Total purchase price of common shares repurchased 2
$7.2 $15.0 $7.0 $29.2 
1 On February 28, 2020, the 2018 Share Repurchase Program expired with approximately $1.5 million remaining from the $25.0 million authorized for repurchases.
2 Total purchase price includes commission costs.