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Stockholders' Equity and Stock Plans - Schedule of Dividends (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Equity [Abstract] |  |  |  |
Cash dividends to common stockholders | $ 16,106 | $ 15,673 | $ 13,107 |
Cash dividends per common share (usd per share) | $ 1.00 | $ 0.98 | $ 0.94 |
Retained earnings | $ 274,570 | $ 270,781 |  |
Stockholders' equity | $ 439,062 | $ 412,092 | $ 450,368 | $ 358,253
Period used to determine amount available for payment of dividends based on restriction (in years) | 3 years |  |  |
Amount of retained earnings available for payment of dividends based on restriction | $ 6,100 |  |  |
Cash held | $ 7,200 |  |  |

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