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Stock Option Plans - Stock Option Activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Options outstanding at the beginning of the year 1,487,925 1,363,694
Options granted 299,750 280,750
Options forfeited (5,525) (9,125)
Options exercised (245,098) (147,394)
Options outstanding at the end of the year 1,537,052 1,487,925
Options exercisable at the end of the year 971,568 985,475
Common stock available for future grants at the end of the year 18,650 104,372
Weighted average exercise price per share:    
Granted $ 38.38 $ 23.05
Forfeited 23.01 21.72
Exercised 15.15 14.51
Outstanding 24.60 20.26
Exercisable $ 21.33 $ 18.99