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Equity Plans - Schedule of Compensation Costs Charged to Income and Proceeds from the Exercise of Any Restricted Stock and Similar Instruments that are Recorded to Additional Paid-In Capital and Common Stock, by Award Type (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation costs charged to income: $ 1,398 $ 1,130 $ 3,991 $ 3,201
Restricted stock and deferred restricted stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation costs charged to income: 1,214 954 3,622 2,844
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation costs charged to income: 184 176 369 357
ESPP proceeds $ 1,042 $ 1,000 $ 2,091 $ 2,026