Shareholders' Equity - Additional Information (Details) - USD ($)	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Feb. 09, 2023
Equity Class Of Treasury Stock [Line Items]
Common stock repurchased, shares	188,658	197,716	198,271	52,000	216,252	116,176	584,645	384,428
Common stock repurchased, value	$ 8,328,000	$ 8,760,000	$ 8,802,000	$ 1,778,000	$ 7,748,000	$ 3,920,000	$ 25,890,000	$ 13,446,000
Shares available for future purchases	$ 28,403,000						$ 28,403,000
Antidilutive securities excluded from computation of earnings per share (shares)	0			393			911	950
Maximum
Equity Class Of Treasury Stock [Line Items]
Treasury shares authorized to be purchased									$ 50,000,000