Stockholders' Equity and Restrictions Change in Common Shares (Details) - shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Mar. 04, 2004
Class of Stock [Line Items]
Common stock, shares authorized (in shares)					127,000,000
Treasury Stock [Member]
Class of Stock [Line Items]
Common Stock, Shares, Issued	(4,138,000)	(3,136,000)	(3,136,000)	(3,136,000)
Stock Issued During Period, Shares, Period Increase (Decrease)	(1,002,000)	0	0
Common Stock Class A [Member]
Class of Stock [Line Items]
Common Stock, Shares, Issued	53,170,413	52,654,016	52,365,000	52,216,000
Stock Issued During Period, Shares, Period Increase (Decrease)	516,000	289,000	149,000
Common stock, shares authorized (in shares)	100,000,000	100,000,000			100,000,000
Common Stock Class B [Member]
Class of Stock [Line Items]
Common Stock, Shares, Issued	1,001,714	1,001,714	1,002,000	1,002,000
Stock Issued During Period, Shares, Period Increase (Decrease)	0	0	0
Common stock, shares authorized (in shares)	2,000,000	2,000,000			2,000,000
Preferred Stock
Class of Stock [Line Items]
Common stock, shares authorized (in shares)					25,000,000