Annual report pursuant to Section 13 and 15(d)

Stock Incentive Plan - Narrative (Details)

v3.22.4
Stock Incentive Plan - Narrative (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
USD ($)
contribution
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
Dec. 31, 2020
USD ($)
$ / shares
May 31, 2016
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized under the plan (in shares) | shares       2,000,000
Shares available for grant (in shares) | shares 696,000      
Expected life of options (in years) 7 years      
Share-based awards, vesting period 3 years      
Weighted average remaining contractual term for options outstanding 3 years      
Weighted-average remaining contractual term exercisable 2 years      
Fair value of stock options vested $ 855 $ 922 $ 1,377  
Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Average aggregate intrinsic value for options outstanding 14,642      
Average aggregate intrinsic value for exercisable options 13,390      
Aggregate intrinsic value of options exercised $ 142 2,137 1,568  
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based awards, vesting period 3 years      
Measurement period 3 years      
Minimum percentage of shares attainable 0.00%      
Maximum percentage of shares attainable 200.00%      
Performance Shares | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 2,826      
Cost not yet recognized, period for recognition 2 years      
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 127.29      
Excess tax benefit related to exercise of stock options $ 1,012 $ 911 $ 2,340  
Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized under the plan (in shares) | shares 314,000      
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        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 9.17 $ 30.68 $ 20.99  
Employee Stock Purchase Plan | Discontinued Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 0 $ 0 $ 18.11  
Non-employee Director Stock Options | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized under the plan (in shares) | shares 360,000      
Shares available for grant (in shares) | shares 60,000      
Employee Stock Option        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based awards, vesting period 3 years      
Unrecognized compensation cost $ 1,444      
Cost not yet recognized, period for recognition 2 years      
Director Restricted Shares | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 494      
Cost not yet recognized, period for recognition 1 year      
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 93.70      
Grant date fair value of shares that vested during the year $ 1,436 $ 2,514 $ 771  
Employee Non-vested Shares | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 7,729      
Cost not yet recognized, period for recognition 2 years      
Weighted-average fair value of each purchase (in dollars per share) | $ / shares     $ 65.88  
Grant date fair value of shares that vested during the year $ 9,804 $ 8,487 $ 9,180  
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based awards, vesting period 3 years      
Restricted Stock | Share-based Payment Arrangement, Tranche One        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based awards, vesting period 1 year      
Restricted Stock | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 105.64 $ 75.35