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Common Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Feb. 24, 2022
Jan. 31, 2021
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Jan. 28, 2022
Class of Stock [Line Items]            
Dividends paid to shareholders     $ 9,388 $ 8,844 $ 8,512  
Cash dividends paid (in USD per share)     $ 1.50 $ 1.38 $ 1.26  
Percentage of common stock authorized for repurchase   5.00%        
Remaining shares available under stock repurchase program (in shares)     33,724      
Shares repurchased (in shares)     279,276 327,000 347,676  
Subsequent Event            
Class of Stock [Line Items]            
Cash dividends declared (in USD per share) $ 0.41          
Number of shares authorized to be repurchased (in shares)           300,000