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Stock Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Summary of activity regarding active stock option and stock award plans
The following table shows the combined summary of activity regarding active stock option and stock award plans.
Non-Vested Stock Awards Outstanding
Shares Available for GrantNumber of SharesWeighted-Average Grant-Date Fair Value
Balance, January 1, 2021577,208 291,494 $33.71 
Shares authorized - 2021 EIP62,369 — — 
Granted(79,072)79,072 36.22 
Stock awards vested— (92,622)32.53 
Forfeited250 (3,798)32.12 
Balance, December 31, 2021560,755 274,146 34.86 
Shares authorized - 2022 EIP287,503 — — 
Granted(127,198)127,198 40.44 
Stock awards vested— (97,640)34.92 
Forfeited9,131 (15,179)36.53 
Balance, December 31, 2022730,191 288,525 37.03 
Shares authorized - 2023 EIP87,271 — — 
Granted(157,485)157,485 41.75 
Stock awards vested— (89,352)35.14 
Forfeited1,571 (5,411)37.91 
Balance, December 31, 2023661,548 351,247 $39.61