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Stockholders' Equity, Stock Award and Incentive Plan (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Shares Available for Grant [Roll Forward]      
Balance, beginning of year (in shares) 1,268,770 1,532,246 529,042
Authorized (in shares)     1,300,000
Granted (in shares) (341,187) (358,078) (394,290)
Exercised/vested (in shares) 0 0 0
Canceled (in shares) 152,877 94,602 97,494
Balance, end of year (in shares) 1,080,460 1,268,770 1,532,246
Stock Options [Member]      
Stock Award and Incentive Plan [Abstract]      
Term of stock options granted under Plan 10 years    
Vesting period 3 years    
Stock Options [Roll Forward]      
Balance, beginning of year (in shares) 1,330,002 1,363,366 1,227,620
Granted (in shares) 242,723 255,769 286,078
Exercised/vested (in shares) (121,992) (251,195) (93,099)
Canceled (in shares) (87,315) (37,938) (57,233)
Balance, end of year (in shares) 1,363,418 1,330,002 1,363,366
Weighted Average Exercise Price Per Share [Abstract]      
Balance, beginning of year (in dollars per share) $ 59.91 $ 57.29 $ 55.83
Granted (in dollars per share) 69.81 66 57.67
Exercised/vested (in dollars per share) 46.81 51.12 35.11
Canceled (in dollars per share) 69.49 64.92 63.92
Balance, end of year (in dollars per share) $ 62.22 $ 59.91 $ 57.29
Restricted Stock Units [Member]      
Restricted Stock [Roll Forward]      
Balance, beginning of year (in shares) 196,133 201,985 177,736
Granted (in shares) 98,464 102,309 108,212
Exercised/vested (in shares) (52,441) (51,497) (43,702)
Canceled (in shares) (65,562) (56,664) (40,261)
Balance, end of year (in shares) 176,594 196,133 201,985
Weighted Average Exercise Price Per Share [Abstract]      
Balance, beginning of year (in dollars per share) $ 60.87 $ 58.07 $ 62.4
Granted (in dollars per share) 69.7 66.2 56.93
Exercised/vested (in dollars per share) 58.92 60.4 66.07
Canceled (in dollars per share) 61 60.98 65.42
Balance, end of year (in dollars per share) $ 66.32 $ 60.87 $ 58.07