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Stock Option Plans - Stock Option Activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Options outstanding at the beginning of the year 1,434,280 1,289,080
Options granted 120,000 232,200
Options forfeited (26,500) (11,500)
Options exercised (164,086) (75,500)
Options outstanding at the end of the year 1,363,694 1,434,280
Options exercisable at the end of the year 932,094 918,405
Common stock available for future grants at the end of the year 44,875 85,000
Weighted average exercise price per share:    
Granted $ 19.88 $ 22.75
Forfeited 23.29 23.07
Exercised 10.54 11.47
Outstanding 19.08 18.07
Exercisable $ 17.50 $ 15.15