Equity Incentive Plans - Options by Exercise Price (Details)	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Options outstanding, number outstanding (in shares) | shares	1,847,000
Options outstanding, Wtd. Avg. remaining contractual life	6 years 2 months 23 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 19.92
Options exercisable, Number exercisable (in shares) | shares	1,105
Options exercisable Wtd. Avg. Remaining Contractual Life	4 years 10 months 9 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 24.27
0-18.23
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	0
Upper range limit, Exercise price (in dollars per share)	$ 18.23
Options outstanding, number outstanding (in shares) | shares	694,000
Options outstanding, Wtd. Avg. remaining contractual life	8 years 1 month 9 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 11.39
Options exercisable, Number exercisable (in shares) | shares	130
Options exercisable Wtd. Avg. Remaining Contractual Life	5 years 4 months 24 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 14.48
18.24-22.26
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	18.24
Upper range limit, Exercise price (in dollars per share)	$ 22.26
Options outstanding, number outstanding (in shares) | shares	486,000
Options outstanding, Wtd. Avg. remaining contractual life	4 years 11 months 19 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 20.97
Options exercisable, Number exercisable (in shares) | shares	420
Options exercisable Wtd. Avg. Remaining Contractual Life	4 years 9 months 3 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 20.84
22.27-29.39
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	22.27
Upper range limit, Exercise price (in dollars per share)	$ 29.39
Options outstanding, number outstanding (in shares) | shares	402,000
Options outstanding, Wtd. Avg. remaining contractual life	5 years 3 months 25 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 25.26
Options exercisable, Number exercisable (in shares) | shares	290
Options exercisable Wtd. Avg. Remaining Contractual Life	4 years 7 months 9 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 26.25
29.40-45.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	29.40
Upper range limit, Exercise price (in dollars per share)	$ 45.00
Options outstanding, number outstanding (in shares) | shares	265,000
Options outstanding, Wtd. Avg. remaining contractual life	5 years 14 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 32.27
Options exercisable, Number exercisable (in shares) | shares	265
Options exercisable Wtd. Avg. Remaining Contractual Life	5 years 14 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 32.27