Annual report pursuant to Section 13 and 15(d)

Stock Incentive Plan - Employee Stock Purchase Plan (Details)

v3.22.0.1
Stock Incentive Plan - Employee Stock Purchase Plan (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
USD ($)
contribution
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
May 31, 2016
shares
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]        
Number of shares authorized under the plan (in shares) | shares       2,000,000
Share-based compensation expense | $ $ 10,913 $ 11,033 $ 11,715  
Employee Stock Purchase Plan        
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]        
Number of shares authorized under the plan (in shares) | shares 323,000      
Percentage of share price for shares issued 90.00%      
Purchase period 6 months      
Number of lump sum contributions | contribution 2      
Employee Stock Purchase Plan | Continuing Operations        
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]        
Shares purchased by employees (in shares) | shares 12,000 14,000 11,000  
Average purchase price (in dollars per share) | $ / shares $ 75.71 $ 44.24 $ 51.50  
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 30.68 $ 20.99 $ 13.68  
Share-based compensation expense | $ $ 369 $ 292 $ 150  
Employee Stock Purchase Plan | Discontinued Operations        
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]        
Shares purchased by employees (in shares) | shares 0 1,000 1,000  
Average purchase price (in dollars per share) | $ / shares $ 0 $ 44.35 $ 51.39  
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 0 $ 18.11 $ 13.48  
Share-based compensation expense | $ $ 0 $ 20 $ 13