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Stock Award Plans and Stock Based Compensation - Valuation Assumptions (Details) - Options
9 Months Ended
Sep. 30, 2021
USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Expected life of option grants 5 years
Dividends assumption $ 0
Minimum  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Risk-free interest rate 0.59%
Expected volatility of underlying stock 37.67%
Maximum  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Risk-free interest rate 0.75%
Expected volatility of underlying stock 38.15%