Stock-Based Compensation - Stock Options (Details) - USD ($)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation costs	$ 4,923,000	$ 7,585,000	$ 4,384,000
Tax benefit from compensation expense	$ 1,148,000	$ 1,767,000	$ 947,000
Share based award vesting period	5 years
Class A Non-Voting
Summary of Option Activity, Shares
Outstanding beginning balance (in shares)	1,618,000	1,896,000	1,694,000
Granted (in shares)	0	0	660,000
Exercised (in shares)	0	0	0
Forfeited or expired (in shares)	(76)	(278,000)	(458,000)
Outstanding ending balance (in shares)	1,542	1,618,000	1,896,000	1,694,000
Exercisable at end of period (in shares)	1,394
Summary of Option Activity, Weighted-Average Exercise Price
Outstanding beginning balance, weighted-average exercise price (in usd per share)	$ 8.99	$ 9.01	$ 9.13
Granted, weighted-average exercise price (in usd per share)	0		8.73
Exercised, weighted-average exercise price (in usd per share)	0		0
Forfeited or expired, weighted-average exercise price (in usd per share)	9.16	8.90	9.05
Outstanding ending balance, weighted-average exercise price (in usd per share)	8.98	$ 8.99	$ 9.01	$ 9.13
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	5 years 6 months	6 years 6 months	7 years 4 months 24 days	7 years 10 months 24 days
Weighted- Average Remaining Contractual Term	5 years 3 months 18 days
Outstanding, aggregate intrinsic value	$ 7,000	$ 143,000	$ 114,000	$ 3,969,000
Exercisable at end of period, aggregate intrinsic value	$ 7,000
2021 Performance Based Grants
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting per year (percent)	0.00%
2022 Performance Based Grants
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option vesting per year (percent)	30.00%
Shares Underlying Stock Options Excluded
Summary of Option Activity, Weighted-Average Remaining Contractual Term
Expected dividend yield			3.02%
Expected volatility			35.48%
Risk-free interest rate			1.38%
Expected term of options			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	$ 129,000	$ 375,000	$ 617,000
Summary of Option Activity, Shares
Granted (in shares)	0	0
Exercised (in shares)	0	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
Options, exercised in period, intrinsic value	$ 0	$ 31,000	$ 0
Options, vested in period, fair value	592,000	$ 860,000	$ 1,084,000
Unearned compensation cost	$ 12,000

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Amount of tax benefit for recognition of expense of award under share-based payment arrangement.

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Amount of noncash expense for share-based payment arrangement.

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Percentage of vesting of award under share-based payment arrangement.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Fair value of options vested. Excludes equity instruments other than options, for example, but not limited to, share units, stock appreciation rights, restricted stock.

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Number of share options (or share units) exercised during the current period.

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