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Consolidated Statement of Changes in Stockholders' Equity (Parenthetical) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Accounting Standards Update [Extensible Enumeration]     us-gaap:AccountingStandardsUpdate201613Member  
Exercise of stock options (shares)   111,750 61,000 111,950
Treasury stock purchases (shares)   116,626 266,753 71,513
Stockholders’ equity $ 303,636 $ 282,682 $ 303,636 $ 282,682
Cash dividends on common stock (per share) $ 0.16 $ 0.16 $ 0.48 $ 0.48
Series D Preferred Stock [Member]        
Preferred stock, dividend rate       4.50%
Series G Preferred Stock [Member]        
Preferred stock, dividend rate       6.00%
Series H Preferred Stock [Member]        
Preferred stock, dividend rate 3.50% 3.50% 3.50% 3.50%
Series I Preferred Stock [Member]        
Preferred stock, dividend rate 3.00% 3.00% 3.00% 3.00%