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Stock Plans and Stock Based Compensation - Activity Related to Restricted Stock Awards (Details)
 12 Months Ended
Dec. 31, 2019
$ / shares
shares
Number of Shares  
Unvested, beginning of year (in shares) | shares 255,239
Granted (in shares) | shares 62,360
Vested (in shares) | shares (61,275)
Forfeited (in shares) | shares (8,357)
Unvested, end of year (in shares) | shares 247,967
Weighted Average Fair Value  
Beginning balance (in dollars per share) | $ / shares $ 66.52
Granted (in dollars per share) | $ / shares 89.21
Vested (in dollars per share) | $ / shares 60.48
Forfeited (in dollars per share) | $ / shares 70.62
Ending balance (in dollars per share) | $ / shares $ 73.66