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Stockholders' Equity and Stock Plans (Tables)

12 Months Ended

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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