Stock-Based Compensation - Narrative (Details) - USD ($)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options exercisable (in shares)	106,714	107,553	136,038
Options exercisable, weighted average exercise price (in USD per share)	$ 33.78	$ 32.63	$ 29.42
Total intrinsic value of stock options outstanding	$ 2,200,000	$ 1,200,000	$ 682,000
Total intrinsic value of stock options exercisable	2,200,000	1,200,000	682,000
Total intrinsic value of stock options exercised	307,000	969,000	0
Stock-based compensation expense	$ 742,000	1,073,000	943,000
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share based compensation options contractual term	10 years
Stock incentive plan vesting period, years	3 years
Amount withheld for stock option exercises and related income taxes	$ 559,000	1,700,000	0
Stock-based compensation expense	108,000	173,000	148,000
Unrecognized compensation expense	$ 110,000
Weighted-average period for recognition of expense	1 year 7 months 6 days
Cash Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Proceeds from exercise of stock options	$ 0	0	0
Cashless Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Proceeds from exercise of stock options	$ 475,000	1,400,000	0
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock incentive plan vesting period, years	3 years
Stock-based compensation expense	$ 634,000	900,000	795,000
Unrecognized compensation expense	$ 629,000
Weighted-average period for recognition of expense	1 year 7 months 6 days
Intrinsic value of restricted stock units vested	$ 1,100,000	$ 1,300,000	$ 735,000
Prior Stock Option Plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of authorized stock for stock incentive plan (in shares)	0
2020 Stock Option Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of authorized stock for stock incentive plan (in shares)	325,000

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Withheld Shares For Company Expenses

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cash inflow from exercise of option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Number of shares authorized for issuance under share-based payment arrangement.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Intrinsic value of vested award under share-based payment arrangement. Excludes share and unit options.

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