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Stock Plans - Option Exercise Ranges (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2021
$ / shares
shares
Options Outstanding  
Outstanding (in shares) | shares 443
Weighted Average Remaining Contractual Life 1 year
Weighted-Average Exercise Price (in dollars per share) $ 32.15
Options Exercisable  
Outstanding (in shares) | shares 443
Weighted Average Remaining Contractual life 1 year
Weighted Average Exercise Price (in dollars per share) $ 32.15
Unvested options outstanding (in shares) | shares 0
$20.00 - $30.00  
Stock plans  
Exercise price, low end of range (in dollars per share) $ 20.00
Exercise price, high end of range (in dollars per share) $ 30.00
Options Outstanding  
Outstanding (in shares) | shares 12
Weighted Average Remaining Contractual Life 1 year 7 months 6 days
Weighted-Average Exercise Price (in dollars per share) $ 29.26
Options Exercisable  
Outstanding (in shares) | shares 12
Weighted Average Remaining Contractual life 1 year 7 months 6 days
Weighted Average Exercise Price (in dollars per share) $ 29.26
$30.01 - $40.00  
Stock plans  
Exercise price, low end of range (in dollars per share) 30.01
Exercise price, high end of range (in dollars per share) $ 40.00
Options Outstanding  
Outstanding (in shares) | shares 431
Weighted Average Remaining Contractual Life 10 months 24 days
Weighted-Average Exercise Price (in dollars per share) $ 32.22
Options Exercisable  
Outstanding (in shares) | shares 431
Weighted Average Remaining Contractual life 10 months 24 days
Weighted Average Exercise Price (in dollars per share) $ 32.22