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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, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-Based Payment Arrangement [Abstract]      
Shares Available for Grant at Period-End (in shares) 463,500    
Shares      
Outstanding, Beginning Balance (in shares) 278,899    
Granted (in shares) 58,710 58,880 55,511
Exercised (in shares) (28,571)    
Forfeited (in shares) (29,988)    
Outstanding, Ending Balance (in shares) 279,050 278,899  
Exercisable (in shares) 156,388    
Vested and Expected to Vest (in shares) 122,662    
Weighted Average Exercise Price      
Beginning balance (in dollars per share) $ 27.62    
Granted (in dollars per share) 34.79    
Exercised (in dollars per share) 22.08    
Forfeited (in dollars per share) 30.21    
Ending balance (in dollars per share) 29.41 $ 27.62  
Exercisable (in dollars per share) 27.63    
Vested and Expected to Vest (in dollars per share) $ 31.68    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Outstanding (in years) 6 years 4 months 9 days    
Exercisable (in years) 4 years 11 months 15 days    
Vested and Expected to Vest (in years) 8 years 1 month 20 days    
Aggregate Intrinsic Value      
Outstanding $ 1,250    
Exercisable 979    
Vested and Expected to Vest $ 272