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Stock Option Plans - Stock Option Activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Options outstanding at the beginning of the year 1,363,694 1,434,280
Options granted 280,750 120,000
Options forfeited (9,125) (26,500)
Options exercised (147,394) (164,086)
Options outstanding at the end of the year 1,487,925 1,363,694
Options exercisable at the end of the year 985,475 932,094
Common stock available for future grants at the end of the year 104,372 44,875
Weighted average exercise price per share:    
Granted $ 23.05 $ 19.88
Forfeited 21.72 23.29
Exercised 14.51 10.54
Outstanding 20.26 19.08
Exercisable $ 18.99 $ 17.50