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Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ 7,144 | $ 7,567 | $ 4,713
Income tax benefits | 1,500 | 1,589 | 990
Excess tax benefits (expenses) on settled share-based employee payments | $ 84 | $ (19) | $ (909)
Restricted Stock [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares granted during the year | 76,806 | 115,746 | 62,594
Shares vested during the year | 75,007 | 44,829 | 34,854
Unvested shares at end of year | 152,140 | 157,860 | 96,127
Unrecognized compensation expense at end of year (in thousands) | $ 3,477 | $ 3,923 | $ 2,215
Total Shareholder Return Market-Based Awards [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares granted during the year | 34,912 | 69,814 | 64,910
Shares vested during the year | 61,456 | 43,730 | 77,174
Shares earned based on market metrics | 44,863 | 48,890 | 58,652
Unvested shares at end of year | 96,915 | 130,567 | 107,854
Unrecognized compensation expense at end of year (in thousands) | $ 2,235 | $ 3,533 | $ 2,653
Performance Shares [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares granted during the year | 104,685 | 69,814 | 64,910
Shares vested during the year | 61,456 | 43,730 | 38,590
Shares earned based on market metrics | 33,801 |  | 26,627
Unvested shares at end of year | 161,235 | 130,567 | 107,854
Unrecognized compensation expense at end of year (in thousands) | $ 2,439 | $ 2,471 | $ 1,223

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