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Stock Incentive Plans - 2016 Equity Compensation Plan Narrative (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Jun. 14, 2022
shares
Jun. 07, 2019
shares
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
shares
Dec. 15, 2016
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Cash paid for taxes related to net share settlement of equity awards | $     $ 2,355 $ 1,937 $ 1,163  
Share-based payment, exercises in period, intrinsic value | $     600      
Restricted Stock Units (RSUs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Restricted common stock fair value | $     $ 3,200 $ 2,700 $ 5,600  
2016 Equity Compensation Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Equity compensation plan, shares authorized (in shares) 1,421,229 1,121,229 319,021     764,087
Additional shares authorized (in shares) 300,000 357,142        
Equity compensation plan, shares that can be granted to employee (in shares) 428,571          
Maximum shares to be granted to non employee director in one year (in shares) 71,428          
Shares withheld (in shares)     39,491      
Share-based payment, exercise price range, shares outstanding (in shares)     47,568 47,568    
Shares issued during period (in shares)     8,077      
2016 Equity Compensation Plan | Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based payment, vested, weighted average exercise price (in dollars per share) | $ / shares       $ 38.92    
2016 Equity Compensation Plan | Maximum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based payment, vested, weighted average exercise price (in dollars per share) | $ / shares       $ 18.20    
2016 Equity Compensation Plan | Restricted Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting period     3 years      
2016 Equity Compensation Plan | Restricted Stock, Earnings Per Share Performance | Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based compensation arrangement, vested, range based on EPS     0      
2016 Equity Compensation Plan | Restricted Stock, Earnings Per Share Performance | Maximum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based compensation arrangement, vested, range based on EPS     2      
2016 Equity Compensation Plan | Restricted Stock, Total Shareholder Return Performance | Management            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Trading day period used in TSR performance calculation     20 days      
2016 Equity Compensation Plan | Restricted Stock, Total Shareholder Return Performance | Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based compensation arrangement, vested, range based on EPS     0      
2016 Equity Compensation Plan | Restricted Stock, Total Shareholder Return Performance | Maximum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based compensation arrangement, vested, range based on EPS     2      
2016 Equity Compensation Plan | Restricted Stock Units (RSUs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares withheld (in shares)     46,000 43,000 39,000  
Management Incentive Plan 2014 | Restricted Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares outstanding (in shares)     0 0