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Employee Plans - Summary of Information Regarding the Common Shares Issued Under the ESPP (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Employee Service Share Based Compensation Aggregate Disclosures [Abstract]      
Shares issued 70,702 90,196 48,131
Issuance price ranges, Minimum $ 53.13 $ 46.23 $ 59.56
Issuance price ranges, Maximum $ 71.04 $ 63.84 $ 72.91
Issuance proceeds $ 4,265 $ 4,508 $ 3,116