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Equity Compensation Plans - 1996 Employee Stock Purchase Plan (Details Textual) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Value of stock purchases made pursuant to employee stock purchase plan	$ 2,610	$ 2,523	$ 2,227
1996 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issue to employees under the employee stock purchase plan	1,700,000
Purchase Price of shares as a percentage of market value	85.00%
Number of shares purchased under employee stock purchase plan	64,342	68,552	54,949
Value of stock purchases made pursuant to employee stock purchase plan	$ 2,600	$ 2,500	$ 2,300
Remaining number of shares eligible for purchase under employee stock purchase plan	89,366
1996 Employee Stock Purchase Plan | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price of shares under the plan	$ 36.63	$ 32.20	$ 30.76
1996 Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price of shares under the plan	$ 48.98	$ 42.35	$ 48.99

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