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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement [Abstract]  
Summary of Compensation Expense and Related Tax Benefits
The following table presents compensation expense and the related tax benefits for equity awards recognized in the consolidated statements of income:
Three months ended June 30Six months ended June 30
 2020201920202019
         (in thousands)
Compensation expense$1,911  $1,788  $3,530  $3,348  
Tax benefit(403) (412) (747) (743) 
Stock-based compensation expense, net of tax benefit$1,508  $1,376  $2,783  $2,605