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Stock Options - Options (Details) - USD ($)
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Apr. 05, 2012
Employee Stock Option      
Stock Options, Aggregate intrinsic value      
Stock-based compensation expense $ 74,000 $ 102,000  
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) 383,865    
Less:      
Options exercised (in shares) (103,575)    
Options forfeited (in shares) (20,937)    
Options outstanding at the end of the period (in shares) 259,353    
Options fully vested and exercisable at the end of the period (in shares) 118,195    
Stock Options, Weighted average exercise price      
Options outstanding at the beginning, weighted average exercise price (in dollars per share) $ 30.65    
Less:      
Options exercised, weighted average exercise price (in dollars per share) 22.14    
Options forfeited, weighted average exercise price (in dollars per share) 23.27    
Options outstanding at the end, weighted average exercise price (in dollars per share) 34.64    
Options fully vested and exercisable at the end, weighted average exercise price (in dollars per share) $ 33.56    
Stock Options, Weighted average remaining contractual term (years)      
Options outstanding at the end, weighted average remaining contractual term (years) 4 years 6 months 21 days    
Options fully vested and exercisable at the end, weighted average remaining contractual term (years) 3 years 6 months 25 days    
Stock Options, Aggregate intrinsic value      
Options outstanding at the end, aggregate intrinsic value $ 5,577,000    
Options fully vested and exercisable at the end, aggregate intrinsic value 2,669,000    
Stock-based compensation cost, unrecognized $ 357,000    
Stock-based compensation cost, unrecognized, weighted-average period of recognition 1 year 6 months    
Incentive Stock Options to 10 Percent Shareholders | 2012 Plan      
Stock option details      
Maximum exercisable period for granted share-based compensation 5 years