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Stockholders' Equity and Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Equity [Abstract] |
Schedule of Information of Cashless Exercise Prices | The table below depicts the total number of shares, amount, and weighted average price withheld for cashless exercises in each of the respective years.
| December 31, 2023 | December 31, 2022 | December 31, 2021
Number of shares withheld | 3,132 |  | 11,505 |  | 27,929 |
Total amount withheld (in thousands) | $ | 86 |  | $ | 393 |  | $ | 1,085 |
Weighted-average price | $ | 27.57 |  | $ | 34.13 |  | $ | 38.85 |
Schedule of Share-based Compensation, Stock Options, Activity | A summary of stock option activity for the years ended December 31, 2023, 2022, and 2021 is presented in the following table. The intrinsic value of options outstanding and exercisable is calculated as the number of in-the-money options times the difference between the market price of our stock and the exercise prices of the in-the-money options as of each year-end period presented.
| Number of Shares | Weighted Average Exercise Price | Aggregate Intrinsic Value (in thousands) | Weighted Average Grant-Date Fair Value | Weighted Average Remaining Contractual Term (in years)
Options outstanding at December 31, 2020 | 371,584 |  | $ | 29.92 |  | $ | 2,262 |  |  | 5.12
Granted | 55,861 |  | 36.39 |  |  | 8.84 |  |
Cancelled, expired or forfeited | (2,008) |  | 42.50 |  |  |  |
Exercised | (60,056) |  | 23.01 |  | 885 |  |  |
Options outstanding at December 31, 2021 | 365,381 |  | 31.97 |  | 2,326 |  |  | 5.57
Exercisable (vested) at December 31, 2021 | 315,744 |  | 30.85 |  | 2,264 |  |  | 5.15
Options outstanding at December 31, 2021 | 365,381 |  | 31.97 |  | 2,326 |  |  | 5.57
Granted | 39,094 |  | 34.16 |  |  | 8.49 |  |
Cancelled, expired or forfeited | (23,760) |  | 37.48 |  |  |  |
Exercised | (51,010) |  | 23.01 |  | 617 |  |  |
Options outstanding at December 31, 2022 | 329,705 |  | 33.22 |  | 813 |  |  | 5.59
Exercisable (vested) at December 31, 2022 | 287,228 |  | 32.81 |  | 813 |  |  | 5.15
Options outstanding at December 31, 2022 | 329,705 |  | 33.22 |  | 813 |  |  | 5.59
Granted | 10,040 |  | 32.54 |  |  | 8.49 |  |
Cancelled, expired or forfeited | (23,804) |  | 35.06 |  |  |  |
Exercised | (12,164) |  | 20.25 |  | 88 |  |  |
Options outstanding at December 31, 2023 | 303,777 |  | 33.22 |  | 1 |  |  | 4.86
Exercisable (vested) at December 31, 2023 | 283,578 |  | 33.46 |  | 1 |  |  | 4.65
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range | A summary of the options outstanding and exercisable by price range as of December 31, 2023 is presented in the following table:
| Stock Options Outstanding as of December 31, 2023 |  | Stock Options Exercisable as of December 31, 2023
Range of Exercise Prices | Stock Options Outstanding | Remaining Contractual Life (in years) | Weighted Average Exercise Price |  | Stock Options Exercisable | Weighted Average Exercise Price
$10.00 - $20.00 | 402 |  | 3.1 | $ | 19.96 |  |  | 402 |  | $ | 19.96 |
$20.01 - $30.00 | 73,080 |  | 1.5 | 24.64 |  | 73,080 |  | 24.64
$30.01 - $40.00 | 171,457 |  | 6.0 | 34.48 |  | 151,258 |  | 34.39
$40.01 - $50.00 | 58,838 |  | 5.6 | 42.13 |  | 58,838 |  | 42.13
| 303,777 |  |  |  |  | 283,578 |  |
Schedule of Unrecognized Compensation Cost, Nonvested Awards | The following table summarizes non-vested restricted stock awards and changes during the years ended December 31, 2023, 2022, and 2021.
| Number of Shares | Weighted Average Grant-Date Fair Value
Non-vested awards at December 31, 2020 | 61,328 |  | $ | 39.50 |
Granted | 30,742 |  | 38.00 |
Vested | (26,392) |  | 36.81 |
Cancelled or forfeited | (3,848) |  | 33.96 |
Non-vested awards at December 31, 2021 | 61,830 |  | 40.25 |
Granted | 46,672 |  | 34.03 |
Vested | (12,444) |  | 41.49 |
Cancelled or forfeited | (13,692) |  | 41.80 |
Non-vested awards at December 31, 2022 | 82,366 |  | 36.28 |
Granted | 61,978 |  | 27.10 |
Vested | (15,768) |  | 36.24 |
Cancelled or forfeited | (21,024) |  | 36.86 |
Non-vested awards at December 31, 2023 | 107,552 |  | 30.88 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions | We determine the fair value of stock options at the grant date using the Black-Scholes pricing model that takes into account the stock price at the grant date, exercise price, and the following assumptions (weighted-average shown).
| Years ended December 31,
| 2023 | 2022 | 2021
Risk-free interest rate | 3.94 | % | 1.86 | % | 0.98 | %
Expected dividend yield on common stock | 3.07 | % | 2.85 | % | 2.57 | %
Expected life in years | 5.0 | 6.0 | 6.1
Expected price volatility | 34.68 | % | 33.44 | % | 33.12 | %
Schedule of Cash Dividends Paid to Common Shareholders | Presented below is a summary of cash dividends paid in 2023, 2022 and 2021 to common shareholders, recorded as a reduction from retained earnings. On January 25, 2024, the Board of Directors declared a $0.25 per share cash dividend, paid on February 15, 2024 to the shareholders of record at the close of business on February 8, 2024.
| Years ended December 31,
(in thousands except per share data) | 2023 | 2022 | 2021
Cash dividends to common stockholders | $ | 16,106 |  | $ | 15,673 |  | $ | 13,107 |
Cash dividends per common share | $ | 1.00 |  | $ | 0.98 |  | $ | 0.94 |

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