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Stock Plans and Stock Based Compensation - Net Cash Proceeds, Tax Benefits and Intrinsic Value Related to Stock Options, SARs, and Restricted Stock (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]      
Proceeds from stock option exercises $ (540) $ (641) $ (806)
Tax benefits related to stock option exercises 680 1,634 1,433
Intrinsic value of stock option exercises $ 1,447 $ 3,139 $ 3,718