Annual report pursuant to Section 13 and 15(d)

Stock-Based Incentive Plans - Employee Stock Purchase Plan (Details)

v3.22.0.1
Stock-Based Incentive Plans - Employee Stock Purchase Plan (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 10,919 $ 8,470 $ 10,304
2017 ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Discount from market value on common stock 15.00%    
Offering period 6 months    
Maximum amount available to participants per year $ 25    
Shares authorized for issuance (in shares) 600,000    
Shares available (in shares) 223,678    
2017 ESPP | Employee Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based compensation expense $ 401 $ 493 $ 744