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Equity Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Restricted stock and deferred restricted stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Unrecognized compensation costs $ 7,618  
Recognition period for unrecognized compensation cost 2 years 1 month 20 days  
Restricted Stock Units (RSUs)    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of equity instruments granted (in shares) 31,399 33,701
Service-based restricted stock vesting period 1 year 3 years
Grant date fair value of equity instruments granted (usd per share) $ 68.37 $ 64.22
Performance Shares    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of equity instruments granted (in shares) 33,621 29,459
Grant date fair value of equity instruments granted (usd per share) $ 70.35 $ 66.35
Performance Shares | Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Target vesting percentage 0.00%  
Performance Shares | Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Target vesting percentage 150.00%  
Market-based RSU | Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Target vesting percentage 0.00%  
Market-based RSU | Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Target vesting percentage 200.00%  
Incentive Plan | Restricted stock and deferred restricted stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares issuable upon exercise of Incentive Plan awards (in shares) 179,833  
Remaining shares available for issuance under the Incentive Plan (in shares) 625,071  
Employee Stock Purchase Plan (ESPP)    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Unrecognized compensation costs $ 132  
Plan expense $ 93 $ 88