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Accumulated Other Comprehensive Income (Loss), net - Components of Accumulated Other Comprehensive Income (Loss) (Parenthetical) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Change in net unrealized holding losses on securities available for sale, tax benefit $ 132 $ 11,936 $ 1,279
Reclassification for previously unrealized net losses recognized in net income, tax benefit 1   30
Reclassification for previously unrealized net losses recognized in net income, income tax benefit 145    
Change in net unrealized holding gains on interest rate swaps, tax expense     1,521
Reclassification for previously unrealized net gains recognized in net income, tax expense $ 0 $ 0 1,307
Change in net unrealized losses on pension and post-retirement benefit plans, tax benefit     $ 1