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Equity - Restricted Stock and Performance-based Stock Units (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restricted stock and performance-based stock units |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) | 232,887 | 221,542 | 182,240
Compensation expense |  |  |
Remaining compensation expense | $ 9,620,000 |  |
Restricted stock and performance-based stock units | 2024 |  |  |
Compensation expense |  |  |
Remaining compensation expense | 6,026,000 |  |
Restricted stock and performance-based stock units | 2025 |  |  |
Compensation expense |  |  |
Remaining compensation expense | 3,238,000 |  |
Restricted stock and performance-based stock units | 2026 |  |  |
Compensation expense |  |  |
Remaining compensation expense | $ 356,000 |  |
Restricted stock |  |  |
Restricted stock and performance based stock units activity |  |  |
Outstanding at the beginning of the period (in shares) | 229,236 | 197,422 | 180,440
Granted (in shares) | 146,020 | 135,210 | 110,348
Vested (in shares) | (115,551) | (103,396) | (93,366)
Canceled (in shares) | (1,085) |  |
Outstanding at the end of the period (in shares) | 258,620 | 229,236 | 197,422
Restricted stock | Grant Date Price $37.16 | Three year vesting |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) | 127,960 |  |
Granted (in dollars per share) | $ 37.16 |  |
Vesting period | 3 years |  |
Restricted stock | Grant Date Price $31.54 | Vesting Date May 24,2024 |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) | 15,060 |  |
Granted (in dollars per share) | $ 31.54 |  |
Restricted stock | Grant Date Price 35.45 | Vesting Date July 25, 2024 |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) | 3,000 |  |
Granted (in dollars per share) | $ 35.45 |  |
Restricted stock | Grant Date Price $33.94 | Three year vesting |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) |  | 122,865 |
Granted (in dollars per share) |  | $ 33.94 |
Vesting period |  | 3 years |
Restricted stock | Grant Date Price $38.48 | Vesting Date, May 25, 2023 |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) |  | 12,345 |
Granted (in dollars per share) |  | $ 38.48 |
Restricted stock | Grant Date Price $42.27 | Three year vesting |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) |  |  | 95,293
Granted (in dollars per share) |  |  | $ 42.27
Vesting period |  |  | 3 years
Restricted stock | Grant Date Price $39.40 | Vesting Date, May 26, 2022 |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) |  |  | 12,055
Granted (in dollars per share) |  |  | $ 39.40
Restricted stock | Grant Date Price $43.14 | Vesting Date, April 1, 2022 |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) |  |  | 3,000
Granted (in dollars per share) |  |  | $ 43.14
Performance-based stock units |  |  |
Restricted stock and performance based stock units activity |  |  |
Outstanding at the beginning of the period (in shares) |  | 0 |
Granted (in shares) | 86,867 | 86,332 | 71,892
Vested (in shares) | 0 | 0 | (108,720)
Outstanding at the end of the period (in shares) |  |  | 0
Compensation expense |  |  |
Compensation expense related to share-based award | $ 8,481,000 | $ 7,964,000 | $ 7,760,000
Performance-based stock units | Grant Date Price $37.16 | TSR Targets |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) | 86,867 |  |
Granted (in dollars per share) | $ 37.16 |  |
Vesting period | 4 years |  |
Performance-based stock units | Grant Date Price $37.16 | Accelerated TSR Targets |  |  |
Restricted stock and performance based stock units activity |  |  |
Vesting period | 3 years |  |
Performance-based stock units | Grant Date Price $33.94 | TSR Targets |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) |  | 86,332 |
Granted (in dollars per share) |  | $ 33.94 |
Performance-based stock units | Grant Date Price $42.27 | TSR Targets |  |  |
Restricted stock and performance based stock units activity |  |  |
Granted (in shares) |  |  | 71,892
Granted (in dollars per share) |  |  | $ 42.27

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- Definition Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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