Condensed Consolidated Balance Sheets (Parenthetical) - shares	Jun. 30, 2022	Dec. 31, 2021	Jun. 30, 2021
Statement of Financial Position [Abstract]
Common shares, shares authorized (shares)	63,000,000	63,000,000	63,000,000
Common shares, shares issued (shares)	34,064,000	33,870,000	33,786,000
Preferred shares, shares authorized (shares)	1,000,000	1,000,000	1,000,000
Preferred shares, shares issued (shares)	0	0	0
Treasury shares, at cost (shares)	62,000	11,000	111,000