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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Statement of Comprehensive Income [Abstract]      
Amortization of actuarial (loss) gain, tax $ 309 $ 236 $ 209
Actuarial gain (loss) arising during the period, tax benefit 902 701 502
Unrealized gain (loss) on cash flow hedge, tax expense (benefit) $ 391 $ 57 $ 29