Share-Based Compensation - Stock Options (Details)	6 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares
Aggregate Intrinsic Value
Exercisable at the end of the period | $	$ 1,034,000
Additional disclosures
Intrinsic value of stock option shares exercised | $	$ 510,000
2004 plan
Additional disclosures
Granted (in shares)	0
2012 plan
Additional disclosures
Granted (in shares)	0
2019 plan
Additional disclosures
Granted (in shares)	0
2020 plan
Share-Based Compensation
Number of shares registered	2,072,245
Employee Stock Option [Member]
Number of shares
Outstanding at the beginning of the period (in shares)	161,832
Exercised (in shares)	(19,011)
Expired (in shares)	(1,967)
Outstanding at the end of the period (in shares)	140,854
Exercisable at the end of the period (in shares)	140,854
Weighted-Average Exercise Price
Outstanding at the beginning of the period (in dollars per share) | $ / shares	$ 66.20
Exercised (in dollars per share) | $ / shares	51.01
Expired (in dollars per share) | $ / shares	28.30
Outstanding at the end of the period (in dollars per share) | $ / shares	68.78
Exercisable at the end of the period (in dollars per share) | $ / shares	$ 68.78
Weighted-Average Remaining Contractual Life
Outstanding at the end of the period	2 years 9 months 18 days
Exercisable at the end of the period	2 years 9 months 18 days
Aggregate Intrinsic Value
Outstanding at the end of the period | $	$ 1,034,000
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