Stock Plans and Stock Based Compensation - Options and SARs Outstanding and Exercisable (Details)	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Number Outstanding (in shares) | shares	91,480
Weighted Average Remaining Contractual Life	3 years 1 month 6 days
Weighted Average Exercise Price (in dollars per share)	$ 54.17
Number Exercisable (in shares) | shares	85,821
Weighted Average Exercise Price (in dollars per share)	$ 54.03
$37.51-41.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range (in dollars per share)	37.51
Range of exercise prices, upper range (in dollars per share)	$ 41.00
Number Outstanding (in shares) | shares	17,034
Weighted Average Remaining Contractual Life	1 year 3 months 7 days
Weighted Average Exercise Price (in dollars per share)	$ 40.60
Number Exercisable (in shares) | shares	17,034
Weighted Average Exercise Price (in dollars per share)	$ 40.60
$41.01-50.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range (in dollars per share)	41.01
Range of exercise prices, upper range (in dollars per share)	$ 50.00
Number Outstanding (in shares) | shares	33,763
Weighted Average Remaining Contractual Life	2 years 9 months 14 days
Weighted Average Exercise Price (in dollars per share)	$ 49.22
Number Exercisable (in shares) | shares	33,763
Weighted Average Exercise Price (in dollars per share)	$ 49.22
$50.01-76.90
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range (in dollars per share)	50.01
Range of exercise prices, upper range (in dollars per share)	$ 76.90
Number Outstanding (in shares) | shares	40,461
Weighted Average Remaining Contractual Life	4 years 1 month 9 days
Weighted Average Exercise Price (in dollars per share)	$ 63.84
Number Exercisable (in shares) | shares	34,802
Weighted Average Exercise Price (in dollars per share)	$ 65.07
$76.91-86.18
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Range of exercise prices, lower range (in dollars per share)	76.91
Range of exercise prices, upper range (in dollars per share)	$ 86.18
Number Outstanding (in shares) | shares	222
Weighted Average Remaining Contractual Life	4 years 10 months 20 days
Weighted Average Exercise Price (in dollars per share)	$ 86.18
Number Exercisable (in shares) | shares	222
Weighted Average Exercise Price (in dollars per share)	$ 86.18