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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, 2020
Dec. 31, 2019
Dec. 31, 2018
Number of Shares/Rights      
Granted (in shares) 86,411 62,360 65,785
Outstanding, ending balance (in shares) 144,387    
Exercisable, ending balance (in shares) 118,697    
Weighted Average Exercise Price      
Outstanding, ending balance (in dollars per share) $ 50.61    
Exercisable, ending balance (in dollars per share) $ 49.17    
Weighted Average Remaining Contractual Term      
Outstanding (term) 3 years 5 months 23 days    
Stock options and SARs      
Number of Shares/Rights      
Outstanding, beginning balance (in shares) 157,622    
Granted (in shares) 0    
Exercised (in shares) (13,235)    
Forfeited (in shares) 0    
Outstanding, ending balance (in shares) 144,387 157,622  
Exercisable, ending balance (in shares) 118,697    
Weighted Average Exercise Price      
Outstanding, beginning balance (in dollars per share) $ 49.72    
Granted (in dollars per share) 0.00    
Exercised (in dollars per share) 39.98    
Forfeited (in dollars per share) 0.00    
Outstanding, ending balance (in dollars per share) 50.61 $ 49.72  
Exercisable, ending balance (in dollars per share) $ 49.17    
Weighted Average Remaining Contractual Term      
Outstanding (term) 3 years 5 months 23 days    
Exercisable (term) 3 years 2 months 23 days    
Aggregate Intrinsic Value      
Outstanding $ 2,991,656    
Exercisable $ 2,622,344