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Share-Based Compensation - Narrative (Details) - USD ($)
12 Months Ended
Oct. 01, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based compensation   $ 4,652,000 $ 4,762,000 $ 4,600,000
Estimated pre-vesting forfeiture rate (as a percent)   0.50%    
Income tax benefit (expense) at vesting   $ 1,117,000 947,000 581,000
Aggregate intrinsic value of stock options exercised   533,000 559,000  
Stock options exercised   $ 358,000 198,000 115,000
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock option term   10 years    
Stock options vesting percentage   100.00%    
Unrecognized compensation expense   $ 0    
RSAs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period   3 years    
Income tax benefit (expense) at vesting   $ 86,000 $ (112,000) $ (394,000)
Unrecognized compensation expense   $ 8,900,000    
Unrecognized compensation expense expected recognition period   1 year 9 months 14 days    
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of average closing price to be paid by employees   85.00%    
Grant date fair value of ESPP options $ 31,000      
Unrecognized compensation expense   $ 0    
Minimum | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period   1 year    
Maximum | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period   2 years