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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