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Stock-Based Compensation - Stock Options (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation costs $ 7,585,000 $ 4,384,000 $ 4,109,000  
Tax benefit from compensation expense $ 1,767,000 $ 947,000 $ 888,000  
Share based award vesting period 5 years      
Class A Non-Voting        
Summary of Option Activity, Shares        
Outstanding beginning balance (in shares) 1,896,000 1,694,000 1,294,000  
Granted (in shares) 0 660,000 591,000  
Exercised (in shares) 0 0 (111,000)  
Forfeited or expired (in shares) (278,000) (458,000) (80,000)  
Outstanding ending balance (in shares) 1,618,000 1,896,000 1,694,000 1,294,000
Exercisable at end of period (in shares) 1,208,000      
Summary of Option Activity, Weighted-Average Exercise Price        
Outstanding beginning balance, weighted-average exercise price (in usd per share) $ 9.01 $ 9.13 $ 8.60  
Granted, weighted-average exercise price (in usd per share)   8.73 9.70  
Exercised, weighted-average exercise price (in usd per share)   0 5.91  
Forfeited or expired, weighted-average exercise price (in usd per share) 8.90 9.05 9.24  
Outstanding ending balance, weighted-average exercise price (in usd per share) 8.99 $ 9.01 $ 9.13 $ 8.60
Exercisable at end of period, weighted-average exercise price (in usd per share) $ 9.02      
Summary of Option Activity, Weighted-Average Remaining Contractual Term        
Outstanding, weighted-average remaining contractual term 6 years 6 months 7 years 4 months 24 days 7 years 10 months 24 days 8 years 1 month 6 days
Weighted- Average Remaining Contractual Term 6 years      
Outstanding, aggregate intrinsic value $ 143,000 $ 114,000 $ 3,969,000 $ 667,000
Exercisable at end of period, aggregate intrinsic value $ 80,000      
Shares Underlying Stock Options Excluded        
Summary of Option Activity, Weighted-Average Remaining Contractual Term        
Expected dividend yield 0.00% 3.02% 3.80%  
Expected volatility 0.00% 35.48% 36.73%  
Risk-free interest rate 0.00% 1.38% 2.56%  
Expected term of options 0 years 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 $ 375,000 $ 617,000 $ 1,397,000  
Summary of Option Activity, Shares        
Granted (in shares) 0      
Exercised (in shares) 0 0    
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  
Options, exercised in period, intrinsic value $ 31,000 $ 0 $ 446,000  
Options, vested in period, fair value 860,000 $ 1,084,000 $ 1,000,000  
Unearned compensation cost $ 162,000