Common Stock (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Class of Stock [Line Items]
Common stock repurchases, value	$ 5,229	$ 15,550	$ 50,347
Common Stock
Class of Stock [Line Items]
Employee stock plans (in shares)	172,261	298,565	505,623
Common Stock
Class of Stock [Line Items]
Treasury shares issued (in shares)	0	0	0
Employee stock plans (in shares)	173,000	298,000	506,000
Treasury Stock
Class of Stock [Line Items]
Common stock repurchases (in shares)	100,000	396,000	900,000
Common stock repurchases, value	$ 5,229	$ 15,550	$ 50,347
Employee stock plans (in shares)	28,000	83,000	117,000