Employee Benefit Plans (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Retirement Benefits [Abstract]
Outstanding stock options and warrants	527,067	527,067
Possible future share issuance authorized under equity incentive plans	2,817,293	2,999,100
Total shares reserved for future issuance	3,344,360	3,526,167
Possible future share issuance authorized under equity incentive plan restricted stock	800,000
Stock-based compensation expense	$ 7,552	$ 8,646	$ 6,210
Total unrecognized stock-based compensation costs	$ 3,600
Weighted average remaining term of vesting periods (in years)	1 year 10 months 24 days
401(k) Savings Plan [Abstract]
401(k) employer match percentage	75.00%
401(k) employer match salary limit percentage	6.00%
401(k) employer contribution	$ 1,400	1,300	1,400
Retirement Plan [Abstract]
Retirement plan qualification years of service (in years)	30 years
Retirement plan qualification age	55 years
Retirement plan qualification minimum years of service (in years)	10 years
Retirement plan immediate vesting percentage	100.00%
Deferred Compensation [Abstract]
Marketable securities of non-qualified deferred compensation plan fair value disclosure	$ 2,564	2,866
Non Qualified Deferred Compensation Obligation Fair Value Disclosure [Roll Forward]
Beginning deferred compensation liability	2,866	2,573	2,345
Mark to market adjustment to deferred compensation (in general and administrative expenses)	(302)	293	228
Ending deferred compensation liability	$ 2,564	$ 2,866	$ 2,573
Employee Stock Purchase Plan [Abstract]
Employee stock purchase plan salary limit percentage	25.00%
Employee stock purchase plan market percentage	85.00%
Number of days at end of quarter used to calculate ESPP discount	5 days
Shares of Common Stock issued under the employee stock purchase plans	46,656	38,460	47,208
Discount percentage on newly issues shares	15.00%
Discount on newly issued shares expensed as additional compensation	$ 200	$ 200	$ 300
Minimum [Member]
Retirement Benefits [Abstract]
Officer cash bonus target	25.00%
Officer cash bonus performance factor	0.00%
Non officer management cash bonus target	5.00%
Maximum [Member]
Retirement Benefits [Abstract]
Officer cash bonus target	140.00%
Officer cash bonus performance factor	200.00%
Non officer management cash bonus target	30.00%
2017 Plan [Member]
Restricted Stock Activity Rollforward [Abstract]
Forfeited (in shares)	(20,995)
2016 Plan [Member]
Restricted Stock Activity Rollforward [Abstract]
Forfeited (in shares)		(18,484)
2015 Plan [Member]
Restricted Stock Activity Rollforward [Abstract]
Forfeited (in shares)			(46,852)
Stock Options [Member]
Stock Option Activity Rollforward [Abstract]
Balance of options outstanding (in shares)	512,067	537,373	584,902
Options exercised (in shares)	0	(25,306)	(42,163)
Options forfeited (in shares)	0		(5,366)
Balance of options outstanding (in shares)		512,067	537,373
Stock Option Activity, Weighted Average Exercise Price Rollforward [Abstract]
Options outstanding, weighted average exercise price (in dollars per share)	$ 46.18	$ 46.07	$ 45.75
Options exercised, weighted average exercise price (in dollars per share)		43.76	41.10
Options forfeited, weighted average exercise price (in dollars per share)			50.82
Options outstanding, weighted average exercise price (in dollars per share)		$ 46.18	$ 46.07
Options exercisable (in shares)	512,067	512,067
Weighted average exercise price (in dollars per share)	$ 46.18	$ 46.18
Weighted average remaining life (in years)	3 years	4 years
Intrinsic value		$ 600
Amount of exercisable options with prices higher than the market price of Company Common Stock		279,549
Cash received or receivable from options exercised		$ 1,100	$ 1,900
Total instrinsic value of options exercised		100	400
Total intrinsic value of options outstanding		$ 600	$ 100
2014 to 2017 Stock Options [Member]
Retirement Benefits [Abstract]
Vesting term of stock options issued/Period for absolute total return of restricted stock issued (in years)	4 years
Option expiration period (in years)	10 years
Time-Based Restricted Stock [Member]
Retirement Benefits [Abstract]
Vesting term of stock options issued/Period for absolute total return of restricted stock issued (in years)	4 years
Restricted Stock Activity Rollforward [Abstract]
Balance of restricted stock outstanding (in shares)	219,719	209,190	218,151
Awarded and issued (in shares)	99,975	103,120	83,116
Vested (in shares)	(101,082)	(89,264)	(88,326)
Forfeited (in shares)	(779)	(3,327)	(3,751)
Balance of restricted stock outstanding (in shares)	217,833	219,719	209,190
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract]
Restricted stock outstanding, weighted average grant date fair value (in dollars per share)	$ 42.63	$ 45.34	$ 45.73
Awarded and issued, weighted average grant date fair value (in dollars per share)	43.58	39.99	44.88
Vested, weighted average grant date fair value (in dollars per share)	42.80	45.90	45.86
Forfeited, weighted average grant date fair value (in dollars per share)	42.37	43.13	45.78
Restricted stock outstanding, weighted average grant date fair value (in dollars per share)	$ 42.63	$ 42.63	$ 45.34
Fair value at grant date of restricted stock issued	$ 4,400	$ 4,100	$ 3,700
Vesting date fair value of restricted stock	$ 4,400	$ 3,600	$ 3,900
Grant date fair value of restricted stock (in dollars per share)	$ 43.58	$ 39.99	$ 44.88
Total Return-Based Restricted Stock [Member]
Retirement Benefits [Abstract]
Vesting term of stock options issued/Period for absolute total return of restricted stock issued (in years)	3 years
Restricted Stock Activity Rollforward [Abstract]
Balance of restricted stock outstanding (in shares)	229,292	225,184	208,848
Awarded and issued (in shares)	81,832	81,464	66,188
Vested (in shares)	(62,985)	(55,452)
Forfeited (in shares)	(20,995)	(21,904)	(49,852)
Balance of restricted stock outstanding (in shares)	227,144	229,292	225,184
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract]
Restricted stock outstanding, weighted average grant date fair value (in dollars per share)	$ 38.00	$ 39.53	$ 42.22
Awarded and issued, weighted average grant date fair value (in dollars per share)	41.94	36.41	38.31
Vested, weighted average grant date fair value (in dollars per share)	45.90	43.01
Forfeited, weighted average grant date fair value (in dollars per share)	45.90	42.33	51.93
Restricted stock outstanding, weighted average grant date fair value (in dollars per share)	$ 38.93	$ 38.00	$ 39.53
Fair value at grant date of restricted stock issued	$ 3,400	$ 2,900	$ 2,500
Vesting date fair value of restricted stock	$ 2,700	$ 2,200	$ 0
Company total return, total return-based restricted stock	100.00%
Vesting percentage, total return-based restricted stock	100.00%	100.00%
Grant date fair value of restricted stock (in dollars per share)	$ 41.94	$ 36.41	$ 38.31
Assumptions Used in Determining Fair Values of Restricted Stock Granted:
Risk free interest rate	1.60%	0.30%	0.90%
Common stock dividend yield	4.50%	4.80%	3.90%
Expected volatility rate	25.80%	26.80%	20.40%
Dividends paid for previous year	1 year
Period preceding date of grant	3 months
Total Return-Based Restricted Stock [Member] | Minimum [Member]
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract]
Percentage of return-based restricted stock issued to officers that will vest	0.00%
Total Return-Based Restricted Stock [Member] | Maximum [Member]
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract]
Percentage of return-based restricted stock issued to officers that will vest	150.00%
Total Return-Based Restricted Stock Current Year Issuance [Member]
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract]
Awarded and issued, weighted average grant date fair value (in dollars per share)	$ 41.94	$ 36.41	$ 38.31
Grant date fair value of restricted stock (in dollars per share)	$ 41.94	$ 36.41	$ 38.31