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Employee Benefit Plans (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Retirement Benefits [Abstract] |  |  |
Outstanding stock options and warrants | 527,067 | 527,067 |
Possible future share issuance authorized under equity incentive plans | 2,817,293 | 2,999,100 |
Total shares reserved for future issuance | 3,344,360 | 3,526,167 |
Possible future share issuance authorized under equity incentive plan restricted stock | 800,000 |  |
Stock-based compensation expense | $ 7,552 | $ 8,646 | $ 6,210
Total unrecognized stock-based compensation costs | $ 3,600 |  |
Weighted average remaining term of vesting periods (in years) | 1 year 10 months 24 days |  |
401(k) Savings Plan [Abstract] |  |  |
401(k) employer match percentage | 75.00% |  |
401(k) employer match salary limit percentage | 6.00% |  |
401(k) employer contribution | $ 1,400 | 1,300 | 1,400
Retirement Plan [Abstract] |  |  |
Retirement plan qualification years of service (in years) | 30 years |  |
Retirement plan qualification age | 55 years |  |
Retirement plan qualification minimum years of service (in years) | 10 years |  |
Retirement plan immediate vesting percentage | 100.00% |  |
Deferred Compensation [Abstract] |  |  |
Marketable securities of non-qualified deferred compensation plan fair value disclosure | $ 2,564 | 2,866 |
Non Qualified Deferred Compensation Obligation Fair Value Disclosure [Roll Forward] |  |  |
Beginning deferred compensation liability | 2,866 | 2,573 | 2,345
Mark to market adjustment to deferred compensation (in general and administrative expenses) | (302) | 293 | 228
Ending deferred compensation liability | $ 2,564 | $ 2,866 | $ 2,573
Employee Stock Purchase Plan [Abstract] |  |  |
Employee stock purchase plan salary limit percentage | 25.00% |  |
Employee stock purchase plan market percentage | 85.00% |  |
Number of days at end of quarter used to calculate ESPP discount | 5 days |  |
Shares of Common Stock issued under the employee stock purchase plans | 46,656 | 38,460 | 47,208
Discount percentage on newly issues shares | 15.00% |  |
Discount on newly issued shares expensed as additional compensation | $ 200 | $ 200 | $ 300
Minimum [Member] |  |  |
Retirement Benefits [Abstract] |  |  |
Officer cash bonus target | 25.00% |  |
Officer cash bonus performance factor | 0.00% |  |
Non officer management cash bonus target | 5.00% |  |
Maximum [Member] |  |  |
Retirement Benefits [Abstract] |  |  |
Officer cash bonus target | 140.00% |  |
Officer cash bonus performance factor | 200.00% |  |
Non officer management cash bonus target | 30.00% |  |
2017 Plan [Member] |  |  |
Restricted Stock Activity Rollforward [Abstract] |  |  |
Forfeited (in shares) | (20,995) |  |
2016 Plan [Member] |  |  |
Restricted Stock Activity Rollforward [Abstract] |  |  |
Forfeited (in shares) |  | (18,484) |
2015 Plan [Member] |  |  |
Restricted Stock Activity Rollforward [Abstract] |  |  |
Forfeited (in shares) |  |  | (46,852)
Stock Options [Member] |  |  |
Stock Option Activity Rollforward [Abstract] |  |  |
Balance of options outstanding (in shares) | 512,067 | 537,373 | 584,902
Options exercised (in shares) | 0 | (25,306) | (42,163)
Options forfeited (in shares) | 0 |  | (5,366)
Balance of options outstanding (in shares) |  | 512,067 | 537,373
Stock Option Activity, Weighted Average Exercise Price Rollforward [Abstract] |  |  |
Options outstanding, weighted average exercise price (in dollars per share) | $ 46.18 | $ 46.07 | $ 45.75
Options exercised, weighted average exercise price (in dollars per share) |  | 43.76 | 41.10
Options forfeited, weighted average exercise price (in dollars per share) |  |  | 50.82
Options outstanding, weighted average exercise price (in dollars per share) |  | $ 46.18 | $ 46.07
Options exercisable (in shares) | 512,067 | 512,067 |
Weighted average exercise price (in dollars per share) | $ 46.18 | $ 46.18 |
Weighted average remaining life (in years) | 3 years | 4 years |
Intrinsic value |  | $ 600 |
Amount of exercisable options with prices higher than the market price of Company Common Stock |  | 279,549 |
Cash received or receivable from options exercised |  | $ 1,100 | $ 1,900
Total instrinsic value of options exercised |  | 100 | 400
Total intrinsic value of options outstanding |  | $ 600 | $ 100
2014 to 2017 Stock Options [Member] |  |  |
Retirement Benefits [Abstract] |  |  |
Vesting term of stock options issued/Period for absolute total return of restricted stock issued (in years) | 4 years |  |
Option expiration period (in years) | 10 years |  |
Time-Based Restricted Stock [Member] |  |  |
Retirement Benefits [Abstract] |  |  |
Vesting term of stock options issued/Period for absolute total return of restricted stock issued (in years) | 4 years |  |
Restricted Stock Activity Rollforward [Abstract] |  |  |
Balance of restricted stock outstanding (in shares) | 219,719 | 209,190 | 218,151
Awarded and issued (in shares) | 99,975 | 103,120 | 83,116
Vested (in shares) | (101,082) | (89,264) | (88,326)
Forfeited (in shares) | (779) | (3,327) | (3,751)
Balance of restricted stock outstanding (in shares) | 217,833 | 219,719 | 209,190
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract] |  |  |
Restricted stock outstanding, weighted average grant date fair value (in dollars per share) | $ 42.63 | $ 45.34 | $ 45.73
Awarded and issued, weighted average grant date fair value (in dollars per share) | 43.58 | 39.99 | 44.88
Vested, weighted average grant date fair value (in dollars per share) | 42.80 | 45.90 | 45.86
Forfeited, weighted average grant date fair value (in dollars per share) | 42.37 | 43.13 | 45.78
Restricted stock outstanding, weighted average grant date fair value (in dollars per share) | $ 42.63 | $ 42.63 | $ 45.34
Fair value at grant date of restricted stock issued | $ 4,400 | $ 4,100 | $ 3,700
Vesting date fair value of restricted stock | $ 4,400 | $ 3,600 | $ 3,900
Grant date fair value of restricted stock (in dollars per share) | $ 43.58 | $ 39.99 | $ 44.88
Total Return-Based Restricted Stock [Member] |  |  |
Retirement Benefits [Abstract] |  |  |
Vesting term of stock options issued/Period for absolute total return of restricted stock issued (in years) | 3 years |  |
Restricted Stock Activity Rollforward [Abstract] |  |  |
Balance of restricted stock outstanding (in shares) | 229,292 | 225,184 | 208,848
Awarded and issued (in shares) | 81,832 | 81,464 | 66,188
Vested (in shares) | (62,985) | (55,452) |
Forfeited (in shares) | (20,995) | (21,904) | (49,852)
Balance of restricted stock outstanding (in shares) | 227,144 | 229,292 | 225,184
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract] |  |  |
Restricted stock outstanding, weighted average grant date fair value (in dollars per share) | $ 38.00 | $ 39.53 | $ 42.22
Awarded and issued, weighted average grant date fair value (in dollars per share) | 41.94 | 36.41 | 38.31
Vested, weighted average grant date fair value (in dollars per share) | 45.90 | 43.01 |
Forfeited, weighted average grant date fair value (in dollars per share) | 45.90 | 42.33 | 51.93
Restricted stock outstanding, weighted average grant date fair value (in dollars per share) | $ 38.93 | $ 38.00 | $ 39.53
Fair value at grant date of restricted stock issued | $ 3,400 | $ 2,900 | $ 2,500
Vesting date fair value of restricted stock | $ 2,700 | $ 2,200 | $ 0
Company total return, total return-based restricted stock | 100.00% |  |
Vesting percentage, total return-based restricted stock | 100.00% | 100.00% |
Grant date fair value of restricted stock (in dollars per share) | $ 41.94 | $ 36.41 | $ 38.31
Assumptions Used in Determining Fair Values of Restricted Stock Granted: |  |  |
Risk free interest rate | 1.60% | 0.30% | 0.90%
Common stock dividend yield | 4.50% | 4.80% | 3.90%
Expected volatility rate | 25.80% | 26.80% | 20.40%
Dividends paid for previous year | 1 year |  |
Period preceding date of grant | 3 months |  |
Total Return-Based Restricted Stock [Member] | Minimum [Member] |  |  |
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract] |  |  |
Percentage of return-based restricted stock issued to officers that will vest | 0.00% |  |
Total Return-Based Restricted Stock [Member] | Maximum [Member] |  |  |
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract] |  |  |
Percentage of return-based restricted stock issued to officers that will vest | 150.00% |  |
Total Return-Based Restricted Stock Current Year Issuance [Member] |  |  |
Restricted Stock Activity, Weighted Average Grant Date Fair Value Rollforward [Abstract] |  |  |
Awarded and issued, weighted average grant date fair value (in dollars per share) | $ 41.94 | $ 36.41 | $ 38.31
Grant date fair value of restricted stock (in dollars per share) | $ 41.94 | $ 36.41 | $ 38.31

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- Definition Number of days at the end of the quarterused to calculate Employe Stock Purchase Plan discount. + References No definition available. + Details
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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which option holders acquired shares when converting their stock options into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(02) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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