Stock Plans and Stock Based Compensation - Activity Related to Restricted Stock Awards (Details)	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Number of Shares
Unvested, beginning of year (in shares) | shares	254,989
Granted (in shares) | shares	67,846
Vested (in shares) | shares	(71,907)
Forfeited (in shares) | shares	(9,018)
Unvested, end of year (in shares) | shares	241,910
Weighted Average Grant Date Fair Value
Beginning balance (in dollars per share) | $ / shares	$ 70.55
Granted (in dollars per share) | $ / shares	83.97
Vested (in dollars per share) | $ / shares	72.67
Forfeited (in dollars per share) | $ / shares	70.10
Ending balance (in dollars per share) | $ / shares	$ 71.60