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Stock Options (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Apr. 05, 2012
Stock Options          
Stock option details          
Shares available for future grants 31,090   31,090   800,000
Maximum exercisable period for options granted     10 years    
Stock option activity          
Options outstanding at the beginning of the period (in shares)     651,127    
Less:          
Exercise of stock options (in shares)     91,262    
Options forfeited (in shares)     20,988    
Options outstanding at the end of the period (in shares) 538,877   538,877    
Options fully vested and exercisable at the end of the period (in shares) 345,715   345,715    
Stock Options, Weighted average exercise price          
Options outstanding at the beginning, weighted average exercise price (in dollars per share)     $ 27.24    
Less:          
Options exercised, weighted average exercise price (in dollars per share)     21.88    
Options forfeited, weighted average exercise price (in dollars per share)     31.75    
Options outstanding at the end, weighted average exercise price (in dollars per share) $ 27.97   27.97    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share) $ 24.54   $ 24.54    
Stock Options, Weighted average remaining contractual term (years)          
Options outstanding at the end, weighted average remaining contractual term (years)     4 years 9 months 18 days    
Options fully vested and exercisable at the end, weighted average remaining contractual term (years)     3 years 6 months 14 days    
Stock Options, Aggregate intrinsic value          
Options outstanding at the end, aggregate intrinsic value $ 8,066,000   $ 8,066,000    
Options fully vested and exercisable at the end, aggregate intrinsic value 6,361,000   6,361,000    
Stock-based compensation expense 114,000 $ 177,000 273,000 $ 395,000  
Stock-based compensation cost, unrecognized, related to non-vested options $ 982,000   $ 982,000    
Stock-based compensation cost, unrecognized, related to non-vested options, weighted-average period of recognition     1 year 7 months 6 days    
Incentive Stock Options to 10 Percent Shareholders [Member]          
Stock option details          
Maximum exercisable period for options granted     5 years