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Equity Plans - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Apr. 26, 2023
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Fair value of restricted stock awards | $ 4,170 | $ 4,369 | $ 3,332 |
Performance-based and market-based restricted stock awards issued (in shares) | 15,955 | 11,551 | 7,327 |
Performance-based and market-based restricted stock awards vested (in shares) | 24,726 |  |  |
Performance-based and market-based restricted stock awards outstanding (in shares) | 61,763 |  |  |
Employee stock purchase plan (in shares) | 34,122 | 36,585 | 35,304 |
Restricted stock and deferred restricted stock |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Share-based payment arrangement, nonvested award, cost not yet recognized, amount | $ 4,587 |  |  |
Period for recognition of compensation cost | 1 year 8 months 1 day |  |  |
Performance Shares | Minimum |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Range of shares issuable | 0.00% |  |  |
Performance Shares | Maximum |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Range of shares issuable | 150.00% |  |  |
Market-based RSU | Minimum |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Range of shares issuable | 0.00% |  |  |
Market-based RSU | Maximum |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Range of shares issuable | 200.00% |  |  |
Incentive Plan |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Remaining shares available for issuance (in shares) |  |  |  | 1,142,000
Incentive Plan | Restricted stock and deferred restricted stock |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Remaining shares available for issuance (in shares) | 1,136,979 |  |  |
Incentive Plan | Common Stock |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Maximum number of shares per employee (in shares) | 600,000 |  |  |
Shares issued pursuant to the plan (in shares) | 1,080,759 | 1,013,782 | 946,086 |
Shares issuable under the plan upon exercise of outstanding awards (in shares) | 150,704 | 162,502 | 168,721 |
Employee Stock Purchase Plan |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Share-based payment arrangement, nonvested award, cost not yet recognized, amount | $ 27 |  |  |
Purchase price of common stock to employees under the plan, percent | 85.00% |  |  |
Maximum percent of base salary employees can designate for share purchase under the plan | 10.00% |  |  |
Expenses recorded under the plan | $ 380 | $ 377 | $ 361 |
Employee Stock Purchase Plan | Common Stock |  |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |  |
Remaining shares available for issuance (in shares) | 500,000 |  |  |
Number of shares reserved for issuance under the plan (in shares) | 500,000 |  |  |

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