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Consolidated Statements of Changes in Stockholders' Equity (Parenthetical) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]                    
Dividends declared per share $ 0.2275 $ 0.2275 $ 0.2275 $ 0.1975 $ 0.1975 $ 0.1975 $ 0.6825 $ 0.5925    
Stockholders' Equity Attributable to Parent $ 280,758 $ 272,632 $ 266,581 $ 253,004 $ 249,923 $ 245,051 $ 280,758 $ 253,004 $ 260,640 $ 232,422
Issuance of common stock under the employee stock purchase plan, shares             3,183      
Issuance of common stock under the employee stock purchase plan 32 28 27 29 35 40        
Stock Issued During Period, Value, New Issues           11,992        
Stock Issued During Period, Value, Treasury Stock Reissued           0        
Preferred stock dividends paid (218) (219) (219) (218) (246)   $ (656) $ (464)    
Treasury Stock, Value, Acquired, Cost Method $ (23) $ (1,072) $ (1,860) $ (1,532) $ (1,363) $ (608)