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Stock-based Compensation - Restricted Stock Unit Activity (Details)
$ / shares in Units, $ in Millions
 9 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Weighted-Average Grant Date Fair Value  
Unrecognized compensation expense recognition period (in years) 2 years 7 months 6 days
Restricted Stock Units  
Shares  
Beginning Balance (in shares) | shares 209,250
Granted (in shares) | shares 16,500
Exercised (in shares) | shares (184,100)
Forfeited or expired (in shares) | shares (17,650)
Ending Balance (in shares) | shares 24,000
Weighted-Average Grant Date Fair Value  
Beginning Balance (in dollars per share) | $ / shares $ 15.92
Granted (in dollars per share) | $ / shares 26.27
Exercised (in dollars per share) | $ / shares 15.66
Forfeited or expired (in dollars per share) | $ / shares 15.32
Ending Balance (in dollars per share) | $ / shares $ 25.46
Total unrecognized compensation cost | $ $ 0.5
Unrecognized compensation expense recognition period (in years) 2 years 3 months 18 days