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Stock Plans - Summary of Performance Stock Unit Activity (Details) - Performance Stock Unit
3 Months Ended
Mar. 31, 2022
$ / shares
shares
Shares  
Unvested, beginning balance (in shares) | shares 193,335
Granted (in shares) | shares 81,162
Performance adjustments (in shares) | shares (22,147)
Vested (in shares) | shares (55,447)
Forfeited (in shares) | shares (1,233)
Unvested, ending balance (in shares) | shares 195,670
Weighted Average Exercise Price (dollars per share)  
Unvested, beginning balance (dollars per share) | $ / shares $ 129.86
Granted (dollars per share) | $ / shares 142.44
Performance adjustments (dollars per share) | $ / shares 99.84
Vested (dollars per share) | $ / shares 101.38
Forfeited (dollars per share) | $ / shares 71.72
Unvested, ending Balance (dollars per share) | $ / shares $ 146.50