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Stockholders' Equity and Stock Plans - Options Outstanding by Price Range (Details) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 365,381 371,584 417,382 425,700
Stock Options Outstanding, Remaining Contractual Life 5 years 6 months 25 days 5 years 1 month 13 days 5 years 6 months 5 years 10 months 6 days
Weighted Average Exercise Price (in dollars per share) $ 31.97 $ 29.92 $ 28.01 $ 25.01
$10.00 - $20.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (in dollars per share) 10.00      
Range of Exercise Prices, Upper Limit (in dollars per share) 20.00      
$20.01 - $30.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (in dollars per share) 20.01      
Range of Exercise Prices, Upper Limit (in dollars per share) 30.00      
$30.01 - $40.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (in dollars per share) 30.01      
Range of Exercise Prices, Upper Limit (in dollars per share) 40.00      
$40.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (in dollars per share) 40.01      
Range of Exercise Prices, Upper Limit (in dollars per share) $ 50.00      
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 365,381      
Stock Options Exercisable (in shares) 315,744      
Stock options | $10.00 - $20.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 32,852      
Stock Options Outstanding, Remaining Contractual Life 8 months 12 days      
Weighted Average Exercise Price (in dollars per share) $ 19.34      
Stock Options Exercisable (in shares) 32,852      
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 19.34      
Stock options | $20.01 - $30.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 102,374      
Stock Options Outstanding, Remaining Contractual Life 3 years 4 months 24 days      
Weighted Average Exercise Price (in dollars per share) $ 24.47      
Stock Options Exercisable (in shares) 102,374      
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 24.47      
Stock options | $30.01 - $40.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 156,415      
Stock Options Outstanding, Remaining Contractual Life 7 years 1 month 6 days      
Weighted Average Exercise Price (in dollars per share) $ 34.67      
Stock Options Exercisable (in shares) 133,131      
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 34.18      
Stock options | $40.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 73,740      
Stock Options Outstanding, Remaining Contractual Life 7 years 6 months      
Weighted Average Exercise Price (in dollars per share) $ 42.29      
Stock Options Exercisable (in shares) 47,387      
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 42.62