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Stock Options and Stock Appreciation Rights - Options (Details) - USD ($)
3 Months Ended
Apr. 18, 2022
Mar. 31, 2023
Mar. 31, 2022
Apr. 05, 2012
Employee Stock Options        
Stock Options, Aggregate intrinsic value        
Stock-based compensation expense   $ 102,000 $ 121,000  
Employee Stock Options | 2012 Plan        
Stock option details        
Shares available for future grants       800,000
Maximum exercisable period for granted share-based compensation   10 years    
Stock option activity        
Options outstanding at the beginning of the period (in shares)   461,822    
Less:        
Exercise of stock options (in shares)   3,537    
Options forfeited (in shares)   2,938    
Options outstanding at the end of the period (in shares)   455,347    
Options fully vested and exercisable at the end of the period (in shares)   257,932    
Stock Options, Weighted average exercise price        
Options outstanding at the beginning, weighted average exercise price (in dollars per share)   $ 29.67    
Less:        
Options exercised, weighted average exercise price (in dollars per share)   24.00    
Options forfeited, weighted average exercise price (in dollars per share)   36.51    
Options outstanding at the end, weighted average exercise price (in dollars per share)   29.67    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share)   $ 25.20    
Stock Options, Weighted average remaining contractual term (years)        
Options outstanding at the end, weighted average remaining contractual term (years)   3 years 9 months 25 days    
Options fully vested and exercisable at the end, weighted average remaining contractual term (years)   2 years 21 days    
Stock Options, Aggregate intrinsic value        
Options outstanding at the end, aggregate intrinsic value   $ 5,987,000    
Options fully vested and exercisable at the end, aggregate intrinsic value   4,545,000    
Stock-based compensation cost, unrecognized, related to non-vested options   $ 660,000    
Stock-based compensation cost, unrecognized, related to non-vested options, weighted-average period of recognition   1 year 7 months 6 days    
Stock Appreciation Rights        
Stock Options, Aggregate intrinsic value        
Stock-based compensation expense     $ 166,000  
Stock Appreciation Rights | SAR Plan        
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    
Vesting period 8 years      
Incentive Stock Options to 10 Percent Shareholders | 2012 Plan        
Stock option details        
Maximum exercisable period for granted share-based compensation   5 years