Shareholders' Equity and Compensation Plans - Narrative (Details) - USD ($)	3 Months Ended	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	May 31, 2022	Apr. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock Repurchase Program, Number of Shares Authorized to be Repurchased		2,000,000			2,000,000	2,000,000
Share-based compensation expense		$ 10,146,000	$ 8,006,000	$ 6,017,000
Tax benefit from compensation expense		$ 300,000	100,000	(100,000)
Award vesting period		3 years
Total unrecognized compensation cost for nonvested stock units		$ 14,500,000
Employee minimum age to participate in plan		21 years
Company contributions, amount charged to expense		$ 6,500,000	$ 5,800,000	4,900,000
Preferred stock, shares authorized		5,000,000	5,000,000
Preferred stock, par value		$ 0.01	$ 0.01
Preferred stock, shares outstanding		75,000	75,000
Expected years to recognize unearned compensation		2 years
Proceeds from issuance of preferred stock, net	$ 72,000,000	$ 0	$ 0	71,988,000
Depositary Shares, Issued And Sold	3,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value		1,600,000	500,000	900,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value		100,000	100,000
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense		$ 1,609,000	916,000	396,000
Contractual term		10 years
Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense		$ 5,014,000	4,156,000	3,109,000
Total unrecognized compensation cost for nonvested stock units	$ 4,622,000	$ 8,438,000	$ 8,507,000	$ 4,622,000
Number of shares issued		107,353
Expected years to recognize unearned compensation		1 year 8 months 12 days	2 years	1 year 10 months 24 days
Performance Shares [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense		$ 2,879,000	$ 2,391,000	$ 1,777,000
Number of shares issued		112,848
Employee Stock [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent		85.00%
Share-based compensation expense		$ 644,000	$ 543,000	$ 735,000
Number of shares authorized		750,000
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period		68,286	55,123	64,826
Share-Based Compensation Arrangement By Share-Based Payment Award, Shares Available Under Employee Stock Purchase Plan		447,655
Stock Options and SSARs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement By Share-based Payment Award, Exercises in Period		909
Minimum | Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period		3 years
Minimum | Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period		3 years
Maximum | Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period		5 years
Maximum | Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period		5 years
Stock Plan for Non-Management Directors
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for grant		130,162	55,878
Number of shares authorized		400,000
Share Based Compensation Arrangement By Share Based Payment Award Number Of Shares Available For Grant, Excluding Deferred Shares		108,893
Share Based Compensation Arrangement by Shar Based Payment Award Number of Shares Available for Grant, Deferred Shares		21,269
Deferred Compensation Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Employee Subscription Rate		25.00%
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Employee Subscription Rate, Bonus		100.00%
Deferred Compensation Liability, Current and Noncurrent		$ 3,700,000