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Stockholders' Equity and Stock Plans - Non-vested Awards Activity (Details) - Restricted Stock Awards - $ / shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Number of Shares
Non-vested awards, beginning balance (in shares)	70,066	87,388	91,216
Granted (in shares)	29,100	29,110	37,040
Vested (in shares)	(23,524)	(28,099)	(28,812)
Forfeited (in shares)	(14,314)	(18,333)	(12,056)
Non-vested awards, ending balance (in shares)	61,328	70,066	87,388
Weighted Average Grant-Date Fair Value
Non-vested awards, beginning balance (in dollars per share)	$ 37.81	$ 31.26	$ 28.16
Granted (in dollars per share)	40.10	44.45	33.58
Vested (in dollars per share)	36.35	27.88	26.06
Forfeited (in dollars per share)	37.63	32.34	27.32
Non-vested awards, ending balance (in dollars per share)	$ 39.50	$ 37.81	$ 31.26

X

- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

+ References

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)(3)
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- Definition

Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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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).

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- Definition

The weighted average fair value at grant date for nonvested equity-based awards issued 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).

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- Definition

The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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- Definition

Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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