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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, 2023
$ / shares
shares
Restricted and Deferred Restricted Stock Awards Activity  
Outstanding, beginning balance (in shares) | shares 162,502
Granted (in shares) | shares 69,655
Issued (in shares) | shares (66,977)
Forfeited (in shares) | shares (14,476)
Outstanding ending balance (in shares) | shares 150,704
Vested (in shares) | shares 27,159
Weighted- Average Grant- Date Fair Value  
Outstanding, beginning balance (in dollars per share) | $ / shares $ 63.77
Granted (in dollars per share) | $ / shares 78.30
Issued (in dollars per share) | $ / shares 57.05
Forfeited (in dollars per share) | $ / shares 72.43
Outstanding, ending balance (in dollars per share) | $ / shares 72.64
Vested (in dollars per share) | $ / shares $ 66.81
Nonvested Restricted and Deferred Restricted Stock Awards Activity  
Nonvested, beginning balance (in shares) | shares 125,459
Granted (in shares) | shares 69,655
Vested (in shares) | shares (63,755)
Forfeited (in shares) | shares (7,814)
Nonvested, ending balance (in shares) | shares 123,545
Weighted-  Average Grant- Date Fair Value  
Nonvested, beginning balance (in dollars per share) | $ / shares $ 66.71
Granted (in dollars per share) | $ / shares 78.30
Vested (in dollars per share) | $ / shares 64.62
Forfeited (in dollars per share) | $ / shares 72.98
Nonvested, ending balance (in dollars per share) | $ / shares $ 73.93