Equity Compensation Plans - 1996 Employee Stock Purchase Plan (Details Textual) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Value of stock purchases made pursuant to employee stock purchase plan	$ 3,284	$ 2,969	$ 2,610
1996 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issue to employees under the employee stock purchase plan	2,900,000
Purchase Price of shares as a percentage of market value	85.00%
Number of shares purchased under employee stock purchase plan	73,982	58,362	64,342
Value of stock purchases made pursuant to employee stock purchase plan	$ 3,300	$ 3,000	$ 2,600
Remaining number of shares eligible for purchase under employee stock purchase plan	1,100,000
1996 Employee Stock Purchase Plan | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price of shares under the plan	$ 39.83	$ 44.95	$ 36.63
1996 Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price of shares under the plan	$ 50.72	$ 55.46	$ 48.98