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Stock Plans and Stock Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted (in shares) | 120,116 | 77,269 | 67,846
Stock-based compensation expense | $ | $ 4,100 | $ 4,343 | $ 5,145
Average grant date fair value (in dollars per share) | $ / shares | $ 51.02 |  |
SARs, shares of restricted stock and restricted units and performance share awards | 2019 Equity Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Authorized number of awards (in shares) | 2,275,000 |  |
Restricted stock awards and restricted units and performance share awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ | $ 4,400 | 4,800 | 5,400
Full-value share awards | 2019 Equity Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Authorized number of awards (in shares) | 535,294 |  |
Reduction to shares available for grant (ratio) | 4.25 |  |
Stock options and SARs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ | $ 0 | $ 33 | $ 151
Unrecognized compensation cost stock option awards | $ | $ 0 |  |
Awards granted during period (in shares) | 0 | 0 | 0
Stock options and SARs | 2019 Equity Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award term (no more than) | 10 years |  |
Stock options and SARs | 2019 Equity Plan | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 5 years |  |
Stock options and SARs | 2019 Equity Plan | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 7 years |  |
Stock Options And Stock Appreciation Rights With Expiration Date In 2026 | 2019 Equity Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 5 years |  |
Stock Options And Stock Appreciation Rights With Expiration Date In 2026 | 2019 Equity Plan | Year One |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 0.00% |  |
Stock Options And Stock Appreciation Rights With Expiration Date In 2026 | 2019 Equity Plan | Year Two |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Stock Options And Stock Appreciation Rights With Expiration Date In 2026 | 2019 Equity Plan | Year Three |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Stock Options And Stock Appreciation Rights With Expiration Date In 2026 | 2019 Equity Plan | Year Four |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Stock Options And Stock Appreciation Rights With Expiration Date In 2026 | 2019 Equity Plan | Year Five |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 7 years |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan | Year One |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 0.00% |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan | Year Two |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 17.00% |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan | Year Three |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 17.00% |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan | Year Four |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 17.00% |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan | Year Five |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 17.00% |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan | Year Six |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 17.00% |  |
Stock Options And Stock Appreciation Rights, Not Expiring In 2026 | 2019 Equity Plan | Year Seven |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 15.00% |  |
Restricted stock |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted (in shares) | 79,140 | 50,155 | 54,151
Average grant date fair value (in dollars per share) | $ / shares |  | $ 81.48 | $ 83.97
Restricted Stock Awards and Restricted Stock Units granted In 2018 To 2022 | 2019 Equity Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 5 years |  |
Restricted Stock Awards and Restricted Stock Units granted In 2018 To 2022 | 2019 Equity Plan | Year One |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 0.00% |  |
Restricted Stock Awards and Restricted Stock Units granted In 2018 To 2022 | 2019 Equity Plan | Year Two |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Restricted Stock Awards and Restricted Stock Units granted In 2018 To 2022 | 2019 Equity Plan | Year Three |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Restricted Stock Awards and Restricted Stock Units granted In 2018 To 2022 | 2019 Equity Plan | Year Four |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Restricted Stock Awards and Restricted Stock Units granted In 2018 To 2022 | 2019 Equity Plan | Year Five |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting, percentage | 25.00% |  |
Restricted Stock Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted (in shares) | 12,630 | 8,215 | 8,355
Weighted average period for recognition | 4 years 1 month 6 days |  |
Unrecognized compensation cost for non-option awards | $ | $ 1,300 |  |
Performance shares |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted (in shares) | 0 | 2,615 | 5,340
Performance shares | 2019 Equity Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award performance period | 3 years |  |
Performance Stock Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Awards granted (in shares) | 28,346 | 16,284 |
Restricted Stock And Performance Awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Weighted average period for recognition | 3 years 2 months 12 days |  |
Unrecognized compensation cost for non-option awards | $ | $ 8,100 |  |

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