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Stock Plans and Stock Based Compensation - Activity Related to Restricted Stock Awards (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Unvested, beginning of year (in shares) 237,356    
Granted (in shares) 120,116 77,269 67,846
Vested (in shares) (61,065)    
Forfeited (in shares) (26,495)    
Unvested, end of year (in shares) 269,912 237,356  
Weighted Average Grant Date Fair Value      
Beginning balance (in dollars per share) $ 73.07    
Granted (in dollars per share) 51.02    
Vested (in dollars per share) 71.81    
Forfeited (in dollars per share) 78.37    
Ending balance (in dollars per share) $ 63.22 $ 73.07