 About 2.1% of families and 3.4% of the population were below the poverty line, including 2.7% of those under age 18 and 3.9% of those age 65 or over.At the 2010 census, there were 84,126 people in 32,478 households, including 22,476 families, in the city.The population density was 1,870.3 people per square mile (722.3/km²).