Annual report pursuant to Section 13 and 15(d)

Stock Incentive Plan - Narrative (Details)

v3.24.0.1
Stock Incentive Plan - Narrative (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
contribution
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
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 581,000      
Expected life of options (in years) 7 years      
Share-based awards, vesting period (in years) 3 years      
Weighted average remaining contractual term for options outstanding (in years) 3 years      
Weighted-average remaining contractual term exercisable (in years) 2 years      
Fair value of stock options vested $ 0 $ 855 $ 922  
Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Average aggregate intrinsic value for options outstanding 900      
Aggregate intrinsic value of options exercised $ 0 142 2,137  
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Measurement period (in years) 3 years      
Minimum percentage of shares attainable 0.00%      
Maximum percentage of shares attainable 200.00%      
Excess tax benefit related to exercise of stock options $ 2,518 $ 1,012 $ 1,006  
Performance Shares | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 2,434      
Cost not yet recognized, period for recognition (in years) 2 years      
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 120.27      
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 302,000      
Percentage of share price for shares issued 90.00%      
Purchase period (in years) 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 $ 7.76 $ 9.17 $ 30.68  
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 $ 7.76 $ 9.17 $ 30.68  
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 47,000      
Employee Stock Option        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based awards, vesting period (in years) 3 years      
Unrecognized compensation cost $ 2,148      
Cost not yet recognized, period for recognition (in years) 2 years      
Director Restricted Shares | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 464      
Cost not yet recognized, period for recognition (in years) 1 year      
Weighted-average fair value of each purchase (in dollars per share) | $ / shares $ 96.10      
Grant date fair value of shares that vested during the year $ 1,424 $ 1,436 $ 2,514  
Employee Non-vested Shares | Continuing Operations        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 8,207      
Cost not yet recognized, period for recognition (in years) 2 years      
Weighted-average fair value of each purchase (in dollars per share) | $ / shares     $ 75.37  
Grant date fair value of shares that vested during the year $ 7,833 $ 9,246 $ 8,232  
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based awards, vesting period (in years) 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 (in years) 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 $ 114.46 $ 105.52    
Restricted Stock | 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 $ 115.42 $ 106.29 $ 75.05  
Grant date fair value of shares that vested during the year $ 701 $ 558 $ 619