Stockholders' Equity - Number of Shares (Details) - shares shares in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Reconciliation of the number of shares outstanding with the number of shares used in computing basic and diluted earnings per share
Common shares outstanding, end of period	35,752	35,953
Effect of using weighted average common shares outstanding	60	123
Shares used in computing earnings per share-basic	35,812	36,076
Effect of shares issuable under stock option plans based on the treasury stock method	26	43
Effect of restricted and contingently issuable shares	69	69
Shares used in computing earnings per share-diluted	35,907	36,188