Stock-Based Compensation - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options exercisable (in shares)	100,830	106,714	107,553
Options exercisable, weighted average exercise price (in USD per share)	$ 34.80	$ 33.78	$ 32.63
Total intrinsic value of stock options outstanding	$ 2,300,000	$ 2,200,000	$ 1,200,000
Total intrinsic value of stock options exercisable	2,300,000	2,200,000	1,200,000
Total intrinsic value of stock options exercised	355,000	307,000	969,000
Stock-based compensation expense	$ 937,000	742,000	1,073,000
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	$ 534,000	559,000	1,700,000
Stock-based compensation expense	74,000	108,000	173,000
Unrecognized compensation expense	$ 36,000
Weighted-average period for recognition of expense	10 months 24 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	$ 445,000	475,000	1,400,000
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	$ 751,000	634,000	900,000
Unrecognized compensation expense	$ 955,000
Weighted-average period for recognition of expense	2 years
Intrinsic value of restricted stock units vested	$ 1,100,000	1,100,000	1,300,000
Performance 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	$ 111,000	$ 0	$ 0
Unrecognized compensation expense	$ 318,000
Weighted-average period for recognition of expense	2 years 2 months 12 days
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
2023 Stock Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of authorized stock for stock incentive plan (in shares)	325,000