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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2020
Share-based Payment Arrangement [Abstract]  
Summary of Compensation Expense and Related Tax Benefits
The following table presents compensation expense and the related tax benefits for equity awards recognized in the consolidated statements of income:
Three months ended September 30Nine months ended September 30
 2020201920202019
         (in thousands)
Compensation expense$1,875 $2,110 $5,403 $5,458 
Tax benefit(397)(451)(1,144)(1,194)
Stock-based compensation expense, net of tax benefit$1,478 $1,659 $4,259 $4,264