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Stock Plans and Stock Based Compensation - Activity Related to Restricted Stock Awards (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of Shares |  |  |
Unvested, beginning of year (in shares) | 241,910 |  |
Granted (in shares) | 77,269 | 67,846 | 86,411
Vested (in shares) | (61,855) |  |
Forfeited (in shares) | (19,968) |  |
Unvested, end of year (in shares) | 237,356 | 241,910 |
Weighted Average Grant Date Fair Value |  |  |
Beginning balance (in dollars per share) | $ 71.60 |  |
Granted (in dollars per share) | 81.48 |  |
Vested (in dollars per share) | 72.01 |  |
Forfeited (in dollars per share) | 75.91 |  |
Ending balance (in dollars per share) | $ 73.07 | $ 71.60 |

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- Definition The weighted average exercise price of share-based awards forfeited during the period. + References No definition available. + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of grants made 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 -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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