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Earnings Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Numerator for basic and diluted EPS:      
Income from continuing operations $ 93,020 $ 77,258 $ 91,218
Income from discontinued operations 3,788 0 5,118
Net income $ 96,808 $ 77,258 $ 96,336
Denominator for basic EPS:      
Weighted average shares outstanding (in shares) 32,993 32,845 32,627
Effect of dilutive securities stock options, restricted stock and restricted stock units (in shares) 265 268 410
Denominator for diluted EPS (in shares) 33,258 33,113 33,037
Basic earnings per share:      
Income from continuing operations (in dollars per share) $ 2.82 $ 2.35 $ 2.80
Income from discontinued operations (in dollars per share) 0.11 0 0.16
Basic earnings per share (in dollars per share) 2.93 2.35 2.95
Diluted earnings per share:      
Income from continuing operations (in dollars per share) 2.80 2.33 2.76
Income from discontinued operations (in dollars per share) 0.11 0 0.15
Diluted earnings per share (in dollars per share) $ 2.91 $ 2.33 $ 2.92