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Shareholders' Equity and Compensation Plans - Summary of Restricted Stock Units Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Weighted Average Grant Date Fair Value      
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 14,500    
Expected years to recognize unearned compensation 2 years    
Restricted Stock Units (RSUs) [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value $ 3,894 $ 3,888 $ 2,855
Shares      
Outstanding, beginning of period (in shares) 269,868    
Granted (in shares) 107,353    
Vested (in shares) 77,195    
Forfeited (in shares) 9,885    
Outstanding, end of period (in shares) 290,141 269,868  
Weighted Average Grant Date Fair Value      
Outstanding, beginning of period (usd per share) $ 46.49    
Granted (usd per share) 50.46    
Vested (usd per share) 43.60    
Forfeited (usd per share) 47.65    
Outstanding, end of period (usd per share) $ 48.69 $ 46.49  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 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
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value $ 50.46 $ 47.96 $ 44.01
Performance Shares [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares issued (in shares) 31,142    
Shares      
Outstanding, beginning of period (in shares) 209,702    
Granted (in shares) 112,848    
Vested (in shares) 49,348    
Outstanding, end of period (in shares) 273,202 209,702