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Stock Plans and Stock Based Compensation - Activity Related to Stock Options and SARs Under All Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of Shares/Rights      
Granted (in shares) 67,846 86,411 62,360
Outstanding, ending balance (in shares) 91,480    
Exercisable, ending balance (in shares) 85,821    
Weighted Average Exercise Price      
Outstanding, ending balance (in dollars per share) $ 54.17    
Exercisable, ending balance (in dollars per share) $ 54.03    
Weighted Average Remaining Contractual Term      
Outstanding (in years) 3 years 1 month 6 days    
Stock options and SARs      
Number of Shares/Rights      
Outstanding, beginning balance (in shares) 144,387    
Granted (in shares) 0    
Exercised (in shares) (51,771)    
Forfeited (in shares) (1,136)    
Outstanding, ending balance (in shares) 91,480 144,387  
Exercisable, ending balance (in shares) 85,821    
Weighted Average Exercise Price      
Outstanding, beginning balance (in dollars per share) $ 50.61    
Granted (in dollars per share) 0.00    
Exercised (in dollars per share) 44.42    
Forfeited (in dollars per share) 46.28    
Outstanding, ending balance (in dollars per share) 54.17 $ 50.61  
Exercisable, ending balance (in dollars per share) $ 54.03    
Weighted Average Remaining Contractual Term      
Outstanding (in years) 3 years 1 month 6 days    
Exercisable (in years) 3 years 18 days    
Aggregate Intrinsic Value      
Outstanding $ 2,690,855    
Exercisable $ 2,536,421