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Stock-Based Compensation and Equity - Summary of Activity Under Restricted and Performance Stock Plans (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restricted stock      
Shares      
Outstanding at beginning of period (in shares) 314,883 412,967 525,859
Granted (in shares) 161,375 153,700 136,771
Performance share awards converted to restricted stock     19,678
Vested and issued (in shares) (181,405) (245,455) (268,067)
Forfeited (in shares) (13,692) (6,329) (1,274)
Outstanding at end of period (in shares) 281,161 314,883 412,967
Weighted-Average Grant-Date Fair Value      
Outstanding at beginning of the period (in dollars per share) $ 29.79 $ 28.87 $ 30.51
Granted (in dollars per share) 34.22 31.22 26.16
Performance share awards converted to restricted stock (in dollars per share)     30.15
Vested and issued (in dollars per share) 29.79 29.16 30.80
Forfeited (in dollars per share) 31.66 29.10 26.16
Outstanding at end of the period in dollars per share) $ 32.24 $ 29.79 $ 28.87
Performance shares      
Shares      
Outstanding at beginning of period (in shares) 249,952 252,852 200,709
Granted (in shares) 101,799 93,444 107,298
Forfeited or unearned (in shares) (72,059) (20,373) (35,477)
Performance share awards converted to restricted stock   (75,971) (19,678)
Vested and issued (in shares) (27,317)    
Outstanding at end of period (in shares) 252,375 249,952 252,852
Weighted-Average Grant-Date Fair Value      
Outstanding at beginning of the period (in dollars per share) $ 29.59 $ 29.27 $ 30.75
Granted (in dollars per share) 37.98 31.26 26.96
Forfeited or unearned (in dollars per share) 32.74 29.92 30.15
Performance share awards converted to restricted stock (in dollars per share)   30.50 30.15
Vested and issued (in dollars per share) 31.75    
Outstanding at end of the period in dollars per share) $ 31.84 $ 29.59 $ 29.27