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Equity Incentive Plan (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | May 31, 2020
2020 Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Issuance of Common stock |  |  |  |  | 700,000
Common Stock, Capital Shares Reserved for Future Issuance | 333,048 |  |  |  |
Restricted Stock [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period | 5 years |  |  |  |
Recognized share based compensation | $ 3.9 | $ 3.5 | $ 3.2 |  |
Unrecognized compensation, other than options | $ 9.2 |  |  |  |
Unrecognized compensation recognition period | 3 years 3 months 18 days |  |  |  |
Fair value inputs forfeiture rate | 0.00% |  |  |  |
Intrinsic value of restricted shares | $ 1.9 | $ 1.8 | $ 1.6 |  |
Shares Outstanding, granted | 81,000 | 87,000 | 52,000 |  |
Fair value of shares granted to directors | $ 63.10 | $ 65.23 | $ 78.43 |  |
Restricted Stock [Member] | Director |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period | 1 year |  |  |  |
Recognized share based compensation | $ 0.7 |  |  |  |
Fair value inputs forfeiture rate | 0.00% |  |  |  |
Shares Outstanding, granted | 10,636 |  |  |  |
Fair value of shares granted to directors | $ 62.62 |  |  |  |
Performance Units And Shares [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period | 3 years | 3 years | 3 years | 3 years |
Fair value inputs forfeiture rate | 0.00% |  |  |  |
Amortization period of compensation expense | 5 years |  |  |  |
Shares Outstanding, granted | 34,000 | 43,000 | 26,000 |  |
Fair value of shares granted to directors | $ 68.59 | $ 63.42 | $ 90.17 |  |
Performance Units And Shares [Member] | 3 Year Performance period to be completed |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period | 3 years |  |  |  |
Recognized share based compensation | $ 1.5 | $ 1.2 | $ 1.5 |  |
Unrecognized compensation, other than options | $ 3.3 |  |  |  |
Unrecognized compensation recognition period | 3 years 1 month 6 days |  |  |  |
Vesting percentage | 50.00% |  |  |  |
Performance Units And Shares [Member] | 3 Year Performance period completed |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period | 3 years |  |  |  |
Recognized share based compensation | $ 0.4 | $ 0.2 |  |  |
Unrecognized compensation, other than options | $ 0.2 |  |  |  |
Unrecognized compensation recognition period | 10 months 24 days |  |  |  |
Vesting percentage | 50.00% |  |  |  |
Performance Units And Shares [Member] | Maximum [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vesting period | 5 years |  |  |  |

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