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Stock-Based Compensation - Restricted Stock Awards (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Restricted Stock        
Restricted Stock, Shares        
Beginning balance (in shares) 167,270      
Granted (in shares) 193,943      
Exercised (in shares) (173,474)      
Forfeited (in shares) (5,293)      
Ending balance (in shares) 182,446 167,270    
Restricted Stock, Weighted-Average Grant Date Fair Value        
Beginning balance (in dollars per share) $ 43.71      
Granted (in dollars per share) 41.04 $ 43.48 $ 36.73  
Exercised (in dollars per share) 42.47      
Forfeited (in dollars per share) 42.31      
Ending balance (in dollars per share) 42.09 43.71    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures [Abstract]        
Weighted-average grant date fair value (in dollars per share) $ 41.04 $ 43.48 $ 36.73  
Total fair value of restricted shares that vested $ 7,368 $ 8,617 $ 8,299  
Performance Shares | Executive        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]        
Shares excluded in year two (in shares)   144,175    
Shares excluded in year three (in shares)     150,050  
Performance period 3 years      
Performance Shares | Executive | Achieved Performance Target For 2018 Through 2020        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]        
Shares excluded (in shares) 92,343      
Performance Shares | Executive | Achieved Performance Target for 2019 - 2021        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]        
Shares excluded (in shares) 100,991      
Options        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]        
Aggregate intrinsic value of stock options outstanding       $ 100
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures [Abstract]        
Total intrinsic value of options exercised $ 0 $ 0 $ 84