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Stock and Other Incentive Plans - Employee Stock Purchase Plan (Details) - Employee Stock Purchase Plan - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock Options Outstanding:      
Options outstanding, beginning of year (in shares) 348,514 341,647 332,659
Granted (in shares) 255,960 253,200 212,716
Exercised (in shares) (20,246) (30,281) (21,713)
Forfeited (in shares) (102,619) (71,630) (42,221)
Expired (in shares) (140,633) (144,422) (139,794)
Outstanding, end of period (in shares) 340,976 348,514 341,647
Weighted-average exercise price:      
Options outstanding, beginning of year (in dollars per share) $ 25.38 $ 24.70 $ 25.59
Options granted during the year (in dollars per share) 26.89 25.16 28.36
Options exercised during the year (in dollars per share) 20.97 25.03 24.10
Options forfeited during the year (in dollars per share) 21.88 25.45 25.29
Options expired during the year (in dollars per share) 23.36 24.17 23.74
Options outstanding, end of year (in dollars per share) 16.38 25.38 24.70
Weighted-average fair value of options granted during the year (calculated as of the grant date) (in dollars per share) $ 9.91 $ 9.05 $ 8.06
Intrinsic value of options exercised during the year $ 75 $ 165 $ 101
Intrinsic value of options outstanding (calculated as of December 31) $ 985 $ 1,997 $ 1,673
Exercise prices of options outstanding (calculated as of December 31) (in dollars per share) $ 16.38 $ 25.91 $ 24.70
Weighted-average contractual life of outstanding options (calculated as of December 31, in years) 9 months 18 days 9 months 18 days 9 months 18 days