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Stock-Based Compensation - Stock Options (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation costs $ 4,384,000 $ 4,109,000 $ 6,196,000  
Tax benefit from compensation expense $ 947,000 $ 888,000 $ 1,475,000  
Share based award vesting period 5 years      
Class A Non-Voting        
Summary of Option Activity, Shares        
Outstanding beginning balance (in shares) 1,694 1,294 887  
Granted (in shares) 660 591 582  
Exercised (in shares)   (111) (21)  
Forfeited or expired (in shares) (458) (80) (154)  
Outstanding ending balance (in shares) 1,896 1,694 1,294 887
Exercisable at end of period (in shares) 1,101      
Summary of Option Activity, Weighted-Average Exercise Price        
Outstanding beginning balance, weighted-average exercise price (in usd per share) $ 9.13 $ 8.60 $ 8.53  
Granted, weighted-average exercise price (in usd per share) 8.73 9.70 8.60  
Exercised, weighted-average exercise price (in usd per share)   5.91 4.88  
Forfeited or expired, weighted-average exercise price (in usd per share) 9.05 9.24 8.74  
Outstanding ending balance, weighted-average exercise price (in usd per share) 9.01 $ 9.13 $ 8.60 $ 8.53
Exercisable at end of period, weighted-average exercise price (in usd per share) $ 9.06      
Summary of Option Activity, Weighted-Average Remaining Contractual Term        
Outstanding, weighted-average remaining contractual term 7 years 4 months 24 days 7 years 10 months 24 days 8 years 1 month 6 days 8 years 4 months 24 days
Exercisable at end of period, weighted-average exercise price (in usd per share) 6 years 7 months 6 days      
Outstanding, aggregate intrinsic value $ 114,000 $ 3,969,000 $ 667,000 $ 527,000
Exercisable at end of period, aggregate intrinsic value $ 26,000      
Shares Underlying Stock Options Excluded        
Summary of Option Activity, Weighted-Average Remaining Contractual Term        
Expected dividend yield 3.02% 3.80%    
Expected volatility 35.48% 36.73%    
Risk-free interest rate 1.38% 2.56%    
Expected term of options 7 years 7 years    
Shares Underlying Stock Options Excluded | Class A Non-Voting        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share based award vesting period 3 years      
Stock option vesting per year (percent) 33.00%      
Stock options expiration period 10 years      
Share-based compensation expense $ 617,000 $ 1,397,000 $ 1,253,000  
Summary of Option Activity, Weighted-Average Remaining Contractual Term        
Weighted average grant date fair value, options granted during period (in usd per share) $ 2.29 $ 2.57 $ 2.78  
Options, exercised in period, intrinsic value $ 0 $ 446,000 $ 80,000  
Options, vested in period, fair value 0 $ 1,000,000 $ 36,000  
Unearned compensation cost $ 636,000