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Stock Option Plans - Stock Option Activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Options outstanding at the beginning of the year 1,537,052 1,487,925
Options granted 133,250 299,750
Options forfeited (6,562) (5,525)
Options exercised (46,068) (245,098)
Options outstanding at the end of the year 1,617,672 1,537,052
Options exercisable at the end of the year 1,132,174 971,568
Common stock available for future grants at the end of the year 166,750 18,650
Weighted average exercise price per share:    
Granted $ 29.35 $ 38.38
Forfeited 31.50 23.01
Exercised 12.73 15.15
Outstanding 25.30 24.60
Exercisable $ 22.83 $ 21.33