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Stockholders' Equity and Stock Plans (Tables)
12 Months Ended
Dec. 31, 2022
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.
December 31, 2022December 31, 2021December 31, 2020
Number of shares withheld11,505 27,929 10,001 
Total amount withheld (in thousands)$393 $1,085 $398 
Weighted-average price$34.13 $38.85 $39.83 
Schedule of Share-based Compensation, Stock Options, Activity
A summary of stock option activity for the years ended December 31, 2022, 2021, and 2020 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, 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
Options outstanding at December 31, 2020371,584 29.92 2,262 5.12
Granted55,861 36.39 8.84 
Cancelled, expired or forfeited(2,008)42.50 
Exercised(60,056)23.01 885 
Options outstanding at December 31, 2021365,381 31.97 2,326 5.57
Exercisable (vested) at December 31, 2021315,744 30.85 2,264 5.15
Options outstanding at December 31, 2021365,381 31.97 2,326 5.57
Granted39,094 34.16 8.49 
Cancelled, expired or forfeited(23,760)37.48 
Exercised(51,010)23.01 617 
Options outstanding at December 31, 2022329,705 33.22 813 5.59
Exercisable (vested) at December 31, 2022287,228 32.81 813 5.15
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, 2022 is presented in the following table:
Stock Options Outstanding as of December 31, 2022 Stock Options Exercisable as of December 31, 2022
Range of Exercise PricesStock Options OutstandingRemaining Contractual Life (in years)Weighted Average Exercise PriceStock Options ExercisableWeighted Average Exercise Price
$10.00 - $20.00
10,852 0.4$19.69 10,852 $19.69 
$20.01 - $30.00
78,214 2.5$24.64 78,214 $24.64 
$30.01 - $40.00
175,929 6.9$34.58 139,906 $34.41 
$40.01 - $50.00
64,710 6.6$42.17 58,256 $42.40 
329,705 287,228 
Schedule of Unrecognized Compensation Cost, Nonvested Awards
The following table summarizes non-vested restricted stock awards and changes during the years ended December 31, 2022, 2021, and 2020.
Number of SharesWeighted Average Grant-Date Fair Value
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 
Granted30,742 38.00 
Vested(26,392)36.81 
Cancelled or forfeited(3,848)33.96 
Non-vested awards at December 31, 202161,830 40.25 
Granted46,672 34.03 
Vested(12,444)41.49 
Cancelled or forfeited(13,692)41.80 
Non-vested awards at December 31, 202282,366 36.28 
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,
202220212020
Risk-free interest rate1.86 %0.98 %0.91 %
Expected dividend yield on common stock2.85 %2.57 %2.38 %
Expected life in years6.06.16.1
Expected price volatility33.44 %33.12 %24.43 %
Summary of Cash Dividends Paid to Common Shareholders
Presented below is a summary of cash dividends paid in 2022, 2021 and 2020 to common shareholders, recorded as a reduction from retained earnings. On January 20, 2023, the Board of Directors declared a $0.25 per share cash dividend, paid February 10, 2023 to the shareholders of record at the close of business on February 3, 2023.
 Years ended December 31,
(in thousands except per share data)202220212020
Cash dividends to common stockholders$15,673 $13,107 $12,506 
Cash dividends per common share$0.98 $0.94 $0.92