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Equity Compensation Plans - 1996 Employee Stock Purchase Plan (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Value of stock purchases made pursuant to employee stock purchase plan | $ 2,969 | $ 2,610 | $ 2,523
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 | 2,900,000 |  |
Purchase Price of shares as a percentage of market value | 85.00% |  |
Number of shares purchased under employee stock purchase plan | 58,362 | 64,342 | 68,552
Value of stock purchases made pursuant to employee stock purchase plan | $ 3,000 | $ 2,600 | $ 2,500
Remaining number of shares eligible for purchase under employee stock purchase plan | 1,200,000 |  |
1996 Employee Stock Purchase Plan | Minimum |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Purchase price of shares under the plan | $ 44.95 | $ 36.63 | $ 32.20
1996 Employee Stock Purchase Plan | Maximum |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Purchase price of shares under the plan | $ 55.46 | $ 48.98 | $ 42.35

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