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Equity Plans - Restricted Stock and Deferred Restricted Stock Activity (Details) - Restricted stock and deferred restricted stock - Incentive Plan
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Restricted and Deferred Restricted Stock Awards Activity  
Outstanding, beginning balance (in shares) | shares 178,106
Granted (in shares) | shares 78,235
Issued (in shares) | shares (65,591)
Forfeited (in shares) | shares (22,029)
Outstanding ending balance (in shares) | shares 168,721
Vested (in shares) | shares 45,311
Weighted- Average Grant- Date Fair Value  
Outstanding, beginning balance (in dollars per share) | $ / shares $ 53.43
Granted (in dollars per share) | $ / shares 65.17
Issued (in dollars per share) | $ / shares 51.52
Forfeited (in dollars per share) | $ / shares 62.54
Outstanding, ending balance (in dollars per share) | $ / shares 58.43
Vested (in dollars per share) | $ / shares $ 36.65
Nonvested Restricted and Deferred Restricted Stock Awards Activity  
Nonvested, beginning balance (in shares) | shares 109,789
Granted (in shares) | shares 78,235
Vested (in shares) | shares (51,802)
Forfeited (in shares) | shares (12,812)
Nonvested, ending balance (in shares) | shares 123,410
Weighted-  Average Grant- Date Fair Value  
Nonvested, beginning balance (in dollars per share) | $ / shares $ 65.18
Granted (in dollars per share) | $ / shares 65.17
Vested (in dollars per share) | $ / shares 62.15
Forfeited (in dollars per share) | $ / shares 65.34
Nonvested, ending balance (in dollars per share) | $ / shares $ 66.43