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Stockholders' Equity and Stock Plans - Options Outstanding Rollforward (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Number of Shares        
Options outstanding, beginning balance (in shares) 371,584 417,382 425,700  
Granted (in shares) 55,861 44,632 53,370  
Cancelled, expired or forfeited (in shares) (2,008) (17,222) (13,580)  
Exercised (in shares) (60,056) (73,208) (48,108)  
Options outstanding, ending balance (in shares) 365,381 371,584 417,382 425,700
Exercisable (vested), ending balance (in shares) 315,744 315,377 333,870  
Weighted Average Exercise Price        
Options outstanding, beginning balance (in dollars per share) $ 29.92 $ 28.01 $ 25.01  
Granted (in dollars per share) 36.39 39.18 44.01  
Cancelled, expired or forfeited (in dollars per share) 42.50 40.31 38.88  
Exercised (in dollars per share) 23.01 22.26 16.11  
Options outstanding, ending balance (in dollars per share) 31.97 29.92 28.01 $ 25.01
Exercisable (vested), ending balance (in dollars per shares) $ 30.85 $ 28.05 $ 25.34  
Aggregate Intrinsic Value        
Options outstanding, beginning balance $ 2,262 $ 7,112 $ 6,910  
Exercised 885 1,370 1,247  
Options outstanding, ending balance 2,326 2,262 7,112 $ 6,910
Exercisable (vested) $ 2,264 $ 2,254 $ 6,581  
Weighted Average Grant-Date Fair Value        
Granted (in dollars per share) $ 8.84 $ 6.84 $ 9.37  
Weighted Average Remaining Contractual Term        
Options outstanding 5 years 6 months 25 days 5 years 1 month 13 days 5 years 6 months 5 years 10 months 6 days
Exercisable (vested) 5 years 1 month 24 days 4 years 6 months 10 days 4 years 9 months 3 days