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Stockholders' Equity and Stock Plans - Options Outstanding by Price Range (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock Options Outstanding (in shares) | 329,705 | 365,381 | 371,584 | 417,382
Stock Options Outstanding, Remaining Contractual Life | 5 years 7 months 2 days | 5 years 6 months 25 days | 5 years 1 month 13 days | 5 years 6 months
Weighted Average Exercise Price (in dollars per share) | $ 33.22 | $ 31.97 | $ 29.92 | $ 28.01
Stock options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock Options Outstanding (in shares) | 329,705 |  |  |
Stock Options Exercisable (in shares) | 287,228 |  |  |
Stock options | $10.00 - $20.00 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 10.00 |  |  |
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 20.00 |  |  |
Stock Options Outstanding (in shares) | 10,852 |  |  |
Stock Options Outstanding, Remaining Contractual Life | 4 months 24 days |  |  |
Weighted Average Exercise Price (in dollars per share) | $ 19.69 |  |  |
Stock Options Exercisable (in shares) | 10,852 |  |  |
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 19.69 |  |  |
Stock options | $20.01 - $30.00 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Range of Exercise Prices, Lower Limit (in dollars per share) | 20.01 |  |  |
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 30.00 |  |  |
Stock Options Outstanding (in shares) | 78,214 |  |  |
Stock Options Outstanding, Remaining Contractual Life | 2 years 6 months |  |  |
Weighted Average Exercise Price (in dollars per share) | $ 24.64 |  |  |
Stock Options Exercisable (in shares) | 78,214 |  |  |
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 24.64 |  |  |
Stock options | $30.01 - $40.00 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Range of Exercise Prices, Lower Limit (in dollars per share) | 30.01 |  |  |
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 40.00 |  |  |
Stock Options Outstanding (in shares) | 175,929 |  |  |
Stock Options Outstanding, Remaining Contractual Life | 6 years 10 months 24 days |  |  |
Weighted Average Exercise Price (in dollars per share) | $ 34.58 |  |  |
Stock Options Exercisable (in shares) | 139,906 |  |  |
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 34.41 |  |  |
Stock options | $40.01 - $50.00 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Range of Exercise Prices, Lower Limit (in dollars per share) | 40.01 |  |  |
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 50.00 |  |  |
Stock Options Outstanding (in shares) | 64,710 |  |  |
Stock Options Outstanding, Remaining Contractual Life | 6 years 7 months 6 days |  |  |
Weighted Average Exercise Price (in dollars per share) | $ 42.17 |  |  |
Stock Options Exercisable (in shares) | 58,256 |  |  |
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 42.40 |  |  |

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- Definition 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. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition 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. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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