Shareholders' Equity - Additional Information (Details) - USD ($)	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Feb. 09, 2023
Equity Class Of Treasury Stock [Line Items]
Common stock repurchased, shares	197,716	198,271	216,252	116,176	395,987	332,428
Common stock repurchased, value	$ 8,760,000	$ 8,802,000	$ 7,748,000	$ 3,920,000	$ 17,562,000	$ 11,668,000
Shares available for future purchases	$ 36,633,000				$ 36,633,000
Antidilutive securities excluded from computation of earnings per share (shares)	0		2,500		5,000	2,500
Maximum
Equity Class Of Treasury Stock [Line Items]
Treasury shares authorized to be purchased							$ 50,000,000