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Stock Based Compensation Roll Forward Schedule of Stock Option Plan by Shares and Weighted Average Exercise Prices (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement [Abstract]      
Shares Available for Grant at Period-End (in shares) 178,391    
Shares      
Outstanding, Beginning Balance (in shares) 248,495    
Granted (in shares) 52,324 55,167 56,722
Exercised (in shares) (33,895)    
Forfeited (in shares) (2,834)    
Outstanding, Ending Balance (in shares) 264,090 248,495  
Exercisable (in shares) 140,686    
Vested and Expected to Vest (in shares) 123,404    
Weighted Average Exercise Price      
Beginning balance (in dollars per share) $ 26.78    
Granted (in dollars per share) 34.25    
Exercised (in dollars per share) 22.07    
Forfeited (in dollars per share) 28.79    
Ending balance (in dollars per share) 28.84 $ 26.78  
Exercisable (in dollars per share) 26.06    
Vested and Expected to Vest (in dollars per share) $ 32.01    
Weighted Average Remaining Contractual Life (in years)      
Outstanding (in years) 6 years 5 months 23 days    
Exercisable (in years) 5 years 3 days    
Vested and Expected to Vest (in years) 8 years 2 months 1 day    
Aggregate Intrinsic Value      
Outstanding $ 285    
Exercisable 542    
Vested and Expected to Vest $ 0