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Stock Plans and Stock Based Compensation - Activity Related to Stock Options and SARs Under All Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Number of Shares/Rights      
Granted (in shares) 62,360 65,785 59,333
Outstanding, ending balance (in shares) 157,622    
Exercisable, ending balance (in shares) 103,927    
Weighted Average Exercise Price      
Outstanding, ending balance (in dollars per share) $ 49.72    
Exercisable, ending balance (in dollars per share) $ 46.91    
Weighted Average Remaining Contractual Term      
Outstanding (term) 4 years 4 months 2 days    
Stock options and SARs      
Number of Shares/Rights      
Outstanding, beginning balance (in shares) 225,375    
Granted (in shares) 0    
Exercised (in shares) (64,865)    
Forfeited (in shares) (2,888)    
Outstanding, ending balance (in shares) 157,622 225,375  
Exercisable, ending balance (in shares) 103,927    
Weighted Average Exercise Price      
Outstanding, beginning balance (in dollars per share) $ 48.02    
Granted (in dollars per share) 0.00    
Exercised (in dollars per share) 43.41    
Forfeited (in dollars per share) 58.91    
Outstanding, ending balance (in dollars per share) 49.72 $ 48.02  
Exercisable, ending balance (in dollars per share) $ 46.91    
Weighted Average Remaining Contractual Term      
Outstanding (term) 4 years 4 months 2 days    
Exercisable (term) 3 years 9 months 29 days    
Aggregate Intrinsic Value      
Outstanding $ 6,585,638    
Exercisable $ 4,634,146