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Stock-Based Compensation - Restricted and Performance Stock Units Rollforward (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restricted Stock Units      
Shares      
Nonvested at the beginning of the period (in shares) 338,448    
Granted (in shares) 126,931    
Vested (in shares) (167,620) (188,887) (5,615)
Forfeited (in shares) (6,972)    
Nonvested at the end of the period (in shares) 290,787 338,448  
Weighted Average Grant-Date Fair Value      
Nonvested at the beginning of the period (in dollars per share) $ 33.28    
Grants in period, weighted average grant date fair value 34.57    
Vested (in dollars per share) 35 $ 33.88 $ 26.71
Forfeited (in dollars per share) 33.83    
Nonvested at the end of the period (in dollars per share) $ 32.89 $ 33.28  
Performance Shares      
Shares      
Nonvested at the beginning of the period (in shares) 177,605    
Granted (in shares) 126,921 132,304 50,868
Vested (in shares) (95,460)    
Forfeited (in shares) (5,334)    
Expired (in shares)   (80,979) (112,328)
Nonvested at the end of the period (in shares) 251,462 177,605  
Weighted Average Grant-Date Fair Value      
Nonvested at the beginning of the period (in dollars per share) $ 31.94    
Grants in period, weighted average grant date fair value 34.57 $ 30.8 $ 34.97
Vested (in dollars per share) 34.97    
Forfeited (in dollars per share) 33.48    
Nonvested at the end of the period (in dollars per share) $ 32.66 $ 31.94  
2021 Performance Share Unit      
Shares      
Granted (in shares) 47,730    
Weighted Average Grant-Date Fair Value      
Grants in period, weighted average grant date fair value $ 34.97