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Stock Options and Stock Appreciation Rights - Options (Details) - USD ($)
 12 Months Ended
Apr. 18, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Apr. 05, 2012
Employee Stock Options          
Stock option details          
Shares available for future grants         800,000
Maximum exercisable period for granted share-based compensation   10 years      
Black-Scholes-Merton option valuation model assumptions          
Expected Life (Years)   7 years 7 years    
Dividend yield (as a percent)   3.08% 3.18%    
Interest rate (as a percent)   1.94% 1.02%    
Volatility (as a percent)   37.78% 37.84%    
Number of options granted (in shares)   31,150      
Stock option activity          
Options outstanding at the beginning of the period (in shares)   520,551      
Plus: Options granted (in shares)   31,150      
Less:          
Exercise of stock options (in shares)   69,479      
Options forfeited (in shares)   20,400      
Options outstanding at the end of the period (in shares)   461,822 520,551    
Options fully vested and exercisable at the end of the period (in shares)   258,215      
Stock Options, Weighted average exercise price          
Options outstanding at the beginning, weighted average exercise price (in dollars per share)   $ 28.28      
Plus: Options granted, weighted average exercise price (in dollars per share)   38.92      
Less:          
Options exercised, weighted average exercise price (in dollars per share)   22.14      
Options forfeited, weighted average exercise price (in dollars per share)   33.99      
Options outstanding at the end, weighted average exercise price (in dollars per share)   29.67 $ 28.28    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share)   $ 25.26      
Stock Options, Weighted average remaining contractual term (years)          
Options outstanding at the end, weighted average remaining contractual term (years)   4 years 25 days      
Options fully vested and exercisable at the end, weighted average remaining contractual term (years)   2 years 3 months 3 days      
Stock Options, Aggregate intrinsic value          
Options outstanding at the end, aggregate intrinsic value   $ 7,430,000      
Options fully vested and exercisable at the end, aggregate intrinsic value   5,293,000      
Stock-based compensation expense   449,000 $ 506,000 $ 743,000  
Stock-based compensation cost, unrecognized, related to non-vested options   $ 762,000      
Stock-based compensation cost, unrecognized, related to non-vested options, weighted-average period of recognition   1 year 8 months 12 days      
Other information pertaining to option activity          
Weighted average grant date fair value of stock options granted (in dollars per share)   $ 11.24 $ 10.20 $ 2.46  
Total fair value of stock options vested   $ 514,000 $ 1,308,000 $ 1,218,000  
Total intrinsic value of stock options exercised   $ 1,670,000 $ 2,536,000 $ 356,000  
Stock Appreciation Rights          
Stock option details          
Shares available for future grants 750,000        
Maximum exercisable period for granted share-based compensation 10 years        
Number of rights issued   502,250      
Base value of units issued (per unit)   $ 39.95      
Vesting period 8 years        
Stock Options, Aggregate intrinsic value          
Stock-based compensation expense   $ 546,000      
Incentive Stock Options to 10 Percent Shareholders          
Stock option details          
Maximum exercisable period for granted share-based compensation   5 years