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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
Mar. 31, 2024
Mar. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation costs charged to income: $ 1,538 $ 1,199
Restricted stock and deferred restricted stock    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation costs charged to income: 1,343 1,008
Employee Stock Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Compensation costs charged to income: 195 191
ESPP proceeds $ 1,101 $ 1,080