Stock Plans and Stock Based Compensation - Activity Related to Restricted Stock Awards (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Unvested, beginning of year (in shares)	241,910
Granted (in shares)	77,269	67,846	86,411
Vested (in shares)	(61,855)
Forfeited (in shares)	(19,968)
Unvested, end of year (in shares)	237,356	241,910
Weighted Average Grant Date Fair Value
Beginning balance (in dollars per share)	$ 71.60
Granted (in dollars per share)	81.48
Vested (in dollars per share)	72.01
Forfeited (in dollars per share)	75.91
Ending balance (in dollars per share)	$ 73.07	$ 71.60