Stock Option Plans - Summary of Options Outstanding (Details)	12 Months Ended
Dec. 31, 2023 $ / shares shares
Number outstanding \| shares	1,598,761
Number exercisable \| shares	1,138,706
$16.71 to $21.62
Range of exercise prices, lower range	$ 16.71
Range of exercise prices, upper range	$ 21.62
Number outstanding \| shares	311,625
Options outstanding weighted-average remaining contractual life (years)	3 years
Options outstanding weighted-average exercise price	$ 19.73
Number exercisable \| shares	311,625
Options exercisable weighted-average exercise price	$ 19.73
$21.63 to $23.29
Range of exercise prices, lower range	21.63
Range of exercise prices, upper range	$ 23.29
Number outstanding \| shares	379,562
Options outstanding weighted-average remaining contractual life (years)	6 years
Options outstanding weighted-average exercise price	$ 22.81
Number exercisable \| shares	327,940
Options exercisable weighted-average exercise price	$ 22.77
$23.30 to $27.77
Range of exercise prices, lower range	23.3
Range of exercise prices, upper range	$ 27.77
Number outstanding \| shares	300,450
Options outstanding weighted-average remaining contractual life (years)	4 years
Options outstanding weighted-average exercise price	$ 24.43
Number exercisable \| shares	290,450
Options exercisable weighted-average exercise price	$ 24.45
$27.78 to $31.56
Range of exercise prices, lower range	27.78
Range of exercise prices, upper range	$ 31.56
Number outstanding \| shares	311,624
Options outstanding weighted-average remaining contractual life (years)	9 years
Options outstanding weighted-average exercise price	$ 29.88
Number exercisable \| shares	48,191
Options exercisable weighted-average exercise price	$ 28.98
$31.57 to $39.56
Range of exercise prices, lower range	31.57
Range of exercise prices, upper range	$ 39.56
Number outstanding \| shares	295,500
Options outstanding weighted-average remaining contractual life (years)	8 years
Options outstanding weighted-average exercise price	$ 38.37
Number exercisable \| shares	160,500
Options exercisable weighted-average exercise price	$ 38.33

The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (g)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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- Definition

The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(iii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(i)-(ii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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- Definition

Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices.

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- Definition

Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

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-SubTopic 10
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