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Stock-Based Compensation - Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Outstanding at beginning of year (in shares) 942,543    
Granted (in shares) 73,532    
Exercised (in shares) 107,500    
Forfeited (in shares) 12,850    
Expired (in shares) 4,980    
Outstanding at end of year (in shares) 890,745 942,543  
Exercisable at end of year (in shares) 757,219    
Weighted-Average Exercise Price      
Outstanding at beginning of year (in dollars per share) $ 16.53    
Granted (in dollars per share) 20.94    
Exercised (in dollars per share) 15.96    
Forfeited (in dollars per share) 25.25    
Expired (in dollars per share) 22.43    
Outstanding at end of year (in dollars per share) 16.80 $ 16.53  
Exercisable at end of year (in dollars per share) 15.79    
Additional disclosure      
Weighted-average fair value of options granted during the year (in dollars per share) $ 7.17 $ 14.94 $ 10.61