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Stock-Based Compensation - Summary of Performance and Market Based RSUs (Details) - Performance and Market-based Restricted Stock Units
9 Months Ended
Sep. 30, 2021
$ / shares
shares
Units  
Outstanding at beginning of year - Units | shares 225,559
Granted - Units | shares 83,237
Attained by performance - Units | shares 18,107
Released - Units | shares (53,137)
Forfeited - Units | shares (43,099)
Outstanding at end of year - Units | shares 230,667
Releasable - Units | shares 196,748
Weighted Average Grant Date Fair Value  
Beginning of year - Weighted Average Grant Date Fair Value | $ / shares $ 28.97
Granted - Weighted Average Grant Date Fair Value | $ / shares 34.44
Attained by performance - Weighted Average Grant Date Fair Value | $ / shares 28.33
Vested and released - Weighted Average Grant Date Fair Value | $ / shares 28.33
Forfeited - Weighted Average Grant Date Fair Value | $ / shares 27.71
End of year - Weighted Average Grant Date Fair Value | $ / shares 31.28
Releasable - Weighted Average Grant Date Fair Value | $ / shares $ 32.62