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Stockholders' Equity, Stock Award and Incentive Plan (Details) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Shares Available for Grant [Roll Forward]      
Balance, beginning of year (in shares) 1,532,246 529,042 866,023
Authorized (in shares)   1,300,000  
Granted (in shares) (358,078) (394,290) (388,162)
Exercised/vested (in shares) 0 0 0
Canceled (in shares) 94,602 97,494 51,181
Balance, end of year (in shares) 1,268,770 1,532,246 529,042
Stock Options [Member]      
Stock Award and Incentive Plan [Abstract]      
Term of stock options granted under Plan 10 years    
Vesting period 3 years    
Stock Options [Roll Forward]      
Balance, beginning of year (in shares) 1,363,366 1,227,620 1,054,259
Granted (in shares) 255,769 286,078 271,261
Exercised/vested (in shares) (251,195) (93,099) (79,686)
Canceled (in shares) (37,938) (57,233) (18,214)
Balance, end of year (in shares) 1,330,002 1,363,366 1,227,620
Weighted Average Exercise Price Per Share [Abstract]      
Balance, beginning of year (in dollars per share) $ 57.29 $ 55.83 $ 54.04
Granted (in dollars per share) 66.00 57.67 54.44
Exercised/vested (in dollars per share) 51.12 35.11 27.26
Canceled (in dollars per share) 64.92 63.92 66.93
Balance, end of year (in dollars per share) $ 59.91 $ 57.29 $ 55.83
Restricted Stock [Member]      
Restricted Stock [Roll Forward]      
Balance, beginning of year (in shares) 201,985 177,736 134,578
Granted (in shares) 102,309 108,212 116,901
Exercised/vested (in shares) (51,497) (43,702) (40,776)
Canceled (in shares) (56,664) (40,261) (32,967)
Balance, end of year (in shares) 196,133 201,985 177,736
Weighted Average Exercise Price Per Share [Abstract]      
Balance, beginning of year (in dollars per share) $ 58.07 $ 62.40 $ 68.64
Granted (in dollars per share) 66.20 56.93 54.51
Exercised/vested (in dollars per share) 60.40 66.07 60.79
Canceled (in dollars per share) 60.98 65.42 61.87
Balance, end of year (in dollars per share) $ 60.87 $ 58.07 $ 62.40