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Shareholders' Equity and Compensation Plans - Schedule of Various Information (Details) - USD ($) $ / shares in Units, $ 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] |  |  |
Share-based Payment Arrangement, Expense | $ 10,146 | $ 8,006 | $ 6,017
Total unrecognized compensation cost for nonvested stock units | $ 14,500 |  |
Expected years to recognize unearned compensation | 2 years |  |
Weighted average fair value (usd per share) | $ 62,190 | $ 51,910 | $ 47,160
Employee Stock [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Payment Arrangement, Expense | $ 644 | $ 543 | $ 735
Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Payment Arrangement, Expense | 5,014 | 4,156 | 3,109
Total fair value at vesting date | 3,894 | 3,888 | 2,855
Total unrecognized compensation cost for nonvested stock units | $ 8,438 | $ 8,507 | $ 4,622
Expected years to recognize unearned compensation | 1 year 8 months 12 days | 2 years | 1 year 10 months 24 days
Stock Plan for Non-Management Directors |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares issued | 27,016,000 | 23,343,000 | 12,998,000
Weighted average fair value (usd per share) | $ 41.31 | $ 42.17 | $ 46.05

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