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Stock Options - Options (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Apr. 05, 2012
Employee Stock Option          
Stock Options, Aggregate intrinsic value          
Stock-based compensation expense $ 77,000 $ 108,000 $ 179,000 $ 229,000  
Employee Stock Option | 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:          
Options exercised (in shares)     (11,187)    
Options forfeited (in shares)     (5,188)    
Options outstanding at the end of the period (in shares) 445,447   445,447    
Options fully vested and exercisable at the end of the period (in shares) 286,044   286,044    
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)     26.27    
Options forfeited, weighted average exercise price (in dollars per share)     37.38    
Options outstanding at the end, weighted average exercise price (in dollars per share) $ 29.67   29.67    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share) $ 26.75   $ 26.75    
Stock Options, Weighted average remaining contractual term (years)          
Options outstanding at the end, weighted average remaining contractual term (years)     3 years 6 months 29 days    
Options fully vested and exercisable at the end, weighted average remaining contractual term (years)     2 years 2 months 1 day    
Stock Options, Aggregate intrinsic value          
Options outstanding at the end, aggregate intrinsic value $ 6,474,000   $ 6,474,000    
Options fully vested and exercisable at the end, aggregate intrinsic value 4,992,000   4,992,000    
Stock-based compensation cost, unrecognized $ 583,000   $ 583,000    
Stock-based compensation cost, unrecognized, weighted-average period of recognition     1 year 7 months 6 days    
Incentive Stock Options to 10 Percent Shareholders | 2012 Plan          
Stock option details          
Maximum exercisable period for granted share-based compensation     5 years