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Stockholders' Equity - Stock Options and Restricted Stock (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2021 | Mar. 31, 2020 | Dec. 31, 2020
Stock-based compensation, general disclosures. |  |  |
Stock-based compensation expense | $ 2,457 | $ 2,728 |
Common stock options |  |  |
Stock-based compensation, general disclosures. |  |  |
Stock-based compensation expense | 1,200 | $ 900 |
Total unrecognized pre-tax compensation expense related to nonvested stock option awards | $ 8,800 |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized | 2 years 1 month 6 days |  |
Options Outstanding |  |  |
Outstanding at beginning of period | 1,039,709 |  |
Granted | 132,606 |  |
Exercised | (53,967) |  |
Forfeited | (10,866) |  |
Cancelled/Expired | (5,982) |  |
Outstanding at end of period | 1,101,500 |  | 1,039,709
Weighted Average Exercise Price Per Share |  |  |
Outstanding at beginning of period | $ 36.43 |  |
Granted | 51.60 |  |
Exercised | 24.00 |  |
Forfeited | 46.28 |  |
Cancelled/Expired | 46.18 |  |
Outstanding at end of period | $ 38.72 |  | $ 36.43
Other information |  |  |
Options exercisable number of shares exercisable | 546,067 | 529,219 |
Options exercisable, weighted-average exercise price | $ 30.27 | $ 17.88 |
Weighted average remaining contractual life (in years) | 5 years 7 months 6 days |  | 5 years 7 months 6 days
Options exercisable, weighted-average remaining contractual life | 4 years 8 months 12 days |  |
Aggregate Intrinsic Value, Options outstanding | $ 18,893 |  | $ 13,381
Aggregate Intrinsic Value, Exercised | 1,516 |  |
Aggregate Intrinsic Value, Options exercisable | $ 14,229 |  |
Common stock options | Minimum |  |  |
Stock-based compensation, general disclosures. |  |  |
Vesting period (in years) | 3 years |  |
Term (in years) | 7 years |  |
Common stock options | Maximum |  |  |
Stock-based compensation, general disclosures. |  |  |
Vesting period (in years) | 4 years |  |
Term (in years) | 10 years |  |
Common stock options | Chief Executive Officer [Member] |  |  |
Stock-based compensation, general disclosures. |  |  |
Share-based payment award, term | 7 years |  |
Vesting period (in years) | 3 years |  |
Number of consecutive trading days | 20 days |  |
Common stock options | Chief Executive Officer [Member] | Minimum |  |  |
Stock-based compensation, general disclosures. |  |  |
Stock price | $ 40.15 |  |
Time-Based Restricted Stock Units | Non-employee Directors |  |  |
Units Outstanding |  |  |
Granted (in shares) | 0 |  |
Number of granted and vested restricted stock units | 6,469 |  |
2018 and 2021 PSUs |  |  |
Stock-based compensation, general disclosures. |  |  |
Stock-based compensation expense | $ 200 |  |
2016 Plan | Time-Based Restricted Stock Units |  |  |
Stock-based compensation, general disclosures. |  |  |
Stock-based compensation expense | 1,300 | $ 1,200 |
Total unrecognized pre-tax compensation expense related to awards | $ 7,900 |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized | 2 months 3 days |  |
Units Outstanding |  |  |
Restricted stock unit awards outstanding at the beginning of the period (in shares) | 211,469 |  |
Granted (in shares) | 48,893 |  |
Vested (in shares) | 61,682 |  |
Cancelled (in shares) | (3,382) |  |
Restricted stock unit awards outstanding at the end of the period (in shares) | 195,298 |  | 211,469
Deferred and unissued (in shares) | 6,469 |  |
Weighted Average Grant Date Fair Value Per Unit |  |  |
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share) | $ 48.29 |  |
Granted (in dollars per share) | 51.60 |  |
Vested (in dollars per share) | 49.49 |  |
Cancelled (in dollars per share) | 54.25 |  |
Restricted stock unit awards outstanding at the end of the period (in dollars per share) | 48.63 |  | $ 48.29
Deferred and unissued (in dollars per share) | $ 38.94 |  |
Aggregate Intrinsic Value |  |  |
Restricted stock unit awards, Average Intrinsic Value | $ 10,642 |  | $ 9,503
Restricted stock unit awards deferred and unissued, Average Intrinsic Value | $ 352 |  |
2016 Plan | Time-Based Restricted Stock Units | Minimum |  |  |
Stock-based compensation, general disclosures. |  |  |
Vesting period (in years) | 1 year |  |
2016 Plan | Time-Based Restricted Stock Units | Maximum |  |  |
Stock-based compensation, general disclosures. |  |  |
Vesting period (in years) | 3 years |  |
2016 Plan | Performance-based stock-settled restricted stock units |  |  |
Stock-based compensation, general disclosures. |  |  |
Estimated payout | $ 500 |  |
Stock-based compensation expense | 300 | $ 400 |
Total unrecognized pre-tax compensation expense related to awards | $ 1,800 |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized | 2 years 10 months 24 days |  |
Units Outstanding |  |  |
Restricted stock unit awards outstanding at the beginning of the period (in shares) | 79,303 |  |
Granted (in shares) | 35,929 |  |
Vested (in shares) | 34,159 |  |
Cancelled (in shares) | (19,032) |  |
Restricted stock unit awards outstanding at the end of the period (in shares) | 62,041 |  | 79,303
Weighted Average Grant Date Fair Value Per Unit |  |  |
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share) | $ 47.83 |  |
Granted (in dollars per share) | 51.60 |  |
Vested (in dollars per share) | 33.98 |  |
Cancelled (in dollars per share) | 69.17 |  |
Restricted stock unit awards outstanding at the end of the period (in dollars per share) | $ 51.10 |  | $ 47.83
Aggregate Intrinsic Value |  |  |
Restricted stock unit awards, Average Intrinsic Value | $ 3,381 |  | $ 3,564
2016 Plan | Performance-based stock-settled restricted stock units | Minimum |  |  |
Units Outstanding |  |  |
Percentage to earn or vest the performance-based stock-settled restricted stock units | 50.00% |  |
2016 Plan | Performance-based stock-settled restricted stock units | Maximum |  |  |
Units Outstanding |  |  |
Percentage to earn or vest the performance-based stock-settled restricted stock units | 150.00% |  |
2016 Plan | Tranche one | Performance-based stock-settled restricted stock units |  |  |
Stock-based compensation, general disclosures. |  |  |
Compensation arrangement | 33.33% |  |
2016 Plan | Tranche two | Performance-based stock-settled restricted stock units |  |  |
Stock-based compensation, general disclosures. |  |  |
Compensation arrangement | 66.67% |  |

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