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Share-Based Compensation - Stock Options (Details) - USD ($)
3 Months Ended 192 Months Ended
Mar. 31, 2023
Dec. 31, 2019
Additional disclosures    
Intrinsic value of stock option shares exercised $ 510,000  
2004 plan    
Additional disclosures    
Granted (in shares)   0
2020 plan    
Share-Based Compensation    
Number of shares registered 2,072,245  
Stock Options    
Number of shares    
Outstanding at the beginning of the period (in shares) 161,832  
Exercised (in shares) (19,011)  
Expired (in shares) (929)  
Outstanding at the end of the period (in shares) 141,892  
Exercisable at the end of the period (in shares) 141,892  
Weighted-Average Exercise Price    
Outstanding at the beginning of the period (in dollars per share) $ 66.20  
Exercised (in dollars per share) 51.01  
Expired (in dollars per share) 33.09  
Outstanding at the end of the period (in dollars per share) 68.45  
Exercisable at the end of the period (in dollars per share) $ 68.45  
Weighted-Average Remaining Contractual Life    
Outstanding at the end of the period 3 years 10 days  
Exercisable at the end of the period 3 years 10 days  
Aggregate Intrinsic Value    
Outstanding at the end of the period $ 1,534,000  
Exercisable at the end of the period $ 1,534,000  
Additional disclosures    
Granted (in shares) 0  
Total unrecognized compensation cost related to non vested stock option grants $ 0  
Incentive stock options | Maximum    
Share-Based Compensation    
Vesting period 4 years  
Incentive stock options | Plan 2004 and 2012    
Share-Based Compensation    
Vesting percentage 25.00%  
Expiration period 10 years