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Stock Based Compensation - Performance Restricted Stock Activity (Details)
12 Months Ended
Dec. 31, 2021
$ / shares
shares
Revenue Based PRSUs  
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]  
Number, outstanding, beginning balance (in shares) | shares 105,891
Number, granted (in shares) | shares 0
Adjustment upon final determination of level of performance goal achievement (in shares) | shares (15,134)
Number, vested (in shares) | shares (30,062)
Number, forfeited (in shares) | shares (1,831)
Number, outstanding, ending balance (in shares) | shares 58,864
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Weighted-average fair value, outstanding, beginning balance (in dollars per share) | $ / shares $ 72.33
Weighted-average fair value, granted (in dollars per share) | $ / shares 0
Weighted-average fair value, adjustment upon final determination of level of performance goal achievement (in dollars per share) | $ / shares 64.33
Weighted-average fair value, vested (in dollars per share) | $ / shares 64.33
Weighted-average fair value, forfeited (in dollars per share) | $ / shares 78.34
Weighted-average fair value, outstanding, ending balance (in dollars per share) | $ / shares $ 78.29
Market Condition Based PRSUs  
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]  
Number, outstanding, beginning balance (in shares) | shares 105,869
Number, granted (in shares) | shares 121,180
Adjustment upon final determination of level of performance goal achievement (in shares) | shares 45,189
Number, vested (in shares) | shares (90,378)
Number, forfeited (in shares) | shares (9,818)
Number, outstanding, ending balance (in shares) | shares 172,042
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Weighted-average fair value, outstanding, beginning balance (in dollars per share) | $ / shares $ 97.84
Weighted-average fair value, granted (in dollars per share) | $ / shares 119.80
Weighted-average fair value, adjustment upon final determination of level of performance goal achievement (in dollars per share) | $ / shares 92.13
Weighted-average fair value, vested (in dollars per share) | $ / shares 92.13
Weighted-average fair value, forfeited (in dollars per share) | $ / shares 116.50
Weighted-average fair value, outstanding, ending balance (in dollars per share) | $ / shares $ 113.74