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Stockholders' Equity and Stock Plans - Options Outstanding by Price Range (Details) - $ / shares	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 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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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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-Publisher FASB
-Name Accounting Standards Codification
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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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Number of options outstanding, including both vested and non-vested options.

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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 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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