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Stockholders' Equity and Stock Plans - Non-vested Awards Activity (Details) - Restricted Stock Awards - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares      
Non-vested awards, beginning balance (in shares) 61,830 61,328 70,066
Granted (in shares) 46,672 30,742 29,100
Vested (in shares) (12,444) (26,392) (23,524)
Forfeited (in shares) (13,692) (3,848) (14,314)
Non-vested awards, ending balance (in shares) 82,366 61,830 61,328
Weighted Average Grant-Date Fair Value      
Non-vested awards, beginning balance (in dollars per share) $ 40.25 $ 39.50 $ 37.81
Granted (in dollars per share) 34.03 38.00 40.10
Vested (in dollars per share) 41.49 36.81 36.35
Forfeited (in dollars per share) 41.80 33.96 37.63
Non-vested awards, ending balance (in dollars per share) $ 36.28 $ 40.25 $ 39.50