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Summary of changes in outstanding options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 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]        
Outstanding options, shares 88,295      
Outstanding options, weighted average exercise price $ 40.33      
Outstanding remaining term 4 years 4 months 24 days      
Options exercisable, shares 84,305      
Exercisable, weighted average exercise price $ 40.07      
Share-Based Payment Arrangement, Option [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Outstanding options, shares 88,295 104,755 120,089 132,504
Outstanding options, weighted average exercise price $ 40.33 $ 37.93 $ 35.33 $ 33.82
Outstanding remaining term 4 years 4 months 24 days 4 years 9 months 17 days 5 years 3 months 18 days 5 years 9 months 17 days
Options outstanding, weighted average fair value $ 1,271 $ 1,416 $ 1,531 $ 1,631
Shares exercised (16,460) (15,334) (12,415)  
Exercises, weighted average exercise price $ 25.07 $ 17.54 $ 19.23  
Exercised, weighted average fair value $ (145) $ (115) $ (100)  
Options exercisable, shares 84,305      
Exercisable, weighted average exercise price $ 40.07      
Exercisable remaining term 4 years 3 months 18 days      
Exercisable, weighted average fair value $ 1,205      
Options vested, shares 4,179      
Vested, weighted average fair value $ 69