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Stock-Based Compensation - Share Appreciation Rights (Details) - $ / shares | 12 Months Ended |
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share-based Payment Arrangement [Abstract] |  |  |  |
Stock options outstanding (in shares) | 93,988 | 131,253 | 222,273 | 291,779
Stock options outstanding (in dollars per share) | $ 14.41 | $ 16.91 | $ 15.44 | $ 14.05
SARS outstanding (in shares) | 0 | 0 | 0 | 32,282
SARs outstanding (in dollars per share) | $ 0 | $ 0 | $ 0 | $ 15.40
Stock options granted (in shares) |  | (57,721) | (30,401) |
Stock options granted (in dollars per share) |  | $ 7.74 | $ 5.57 |
SARs granted (in shares) |  | 0 | 0 |
SARs granted (in dollars per share) |  | $ 0 | $ 0 |
Stock options exercised (in shares) | (5,598) | (16,455) | (39,105) |
Stock options exercised (in dollars per share) | $ 11.88 | $ 18.45 | $ 12.77 |
SARs exercised (in shares) | 0 | 0 | 0 |
SARs exercised (in dollars per share) | $ 0 | $ 0 | $ 0 |
Stock options canceled/forfeited (in shares) |  |  | 0 |
Stock options canceled/forfeited (in dollars per share) |  |  | $ 0 |
SARs canceled/forfeited (in shares) |  |  | (32,282) |
SARs canceled/forfeited (in dollars per share) |  |  | $ 15.40 |
Stock options expired (in shares) | (31,667) | (16,844) |  |
Stock options expired (in dollars per share) | $ 25.19 | $ 27.45 |  |
SARs expired (in shares) | 0 | 0 |  |
SARS expired (in dollars per share) | $ 0 | $ 0 |  |

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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(4) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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