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Stock-Based Compensation (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based compensation [Abstract]      
Stock-based compensation expense $ 5,102 $ 4,530 $ 4,414
Weighted Average Remaining Contractual Term and Aggregate Intrinsic Value [Abstract]      
Number of shares available for future grant (in shares) 182,418    
Stock Options [Member]      
Share-based compensation [Abstract]      
Stock awards termination period 10 years    
Stock-based compensation expense $ 0 $ 0 0
Number of Shares [Roll Forward]      
Outstanding, beginning of period (in shares) 9,100    
Exercised (in shares) (3,630)    
Expired (in shares) (120)    
Outstanding, end of period (in shares) 5,350 9,100  
Exercisable, end of period (in shares) 5,350    
Weighted Average Exercise Price [Abstract]      
Outstanding, beginning of period (in dollars per share) $ 29.89    
Exercised (in dollars per share) 25.09    
Expired (in dollars per share) 26.29    
Outstanding, end of period (in dollars per share) 33.24 $ 29.89  
Exercisable, end of period (in dollars per share) $ 33.24    
Weighted Average Remaining Contractual Term and Aggregate Intrinsic Value [Abstract]      
Weighted average remaining contractual term, outstanding, end of period 2 years 6 months    
Weighted average remaining contractual term, exercisable, end of period 2 years 6 months    
Aggregate intrinsic value, outstanding, end of period $ 46    
Aggregate intrinsic value, exercisable, end of period 46    
Proceeds from stock options exercised 91 $ 0 112
Tax benefits related to stock options exercised 13 0 13
Intrinsic value of stock options exercised 50 0 52
Restricted Stock [Member]      
Share-based compensation [Abstract]      
Stock-based compensation expense $ 5,100 4,500 4,400
Restricted Stock [Member] | Employees [Member] | Minimum [Member]      
Share-based compensation [Abstract]      
Stock awards vesting period 3 years    
Restricted Stock [Member] | Employees [Member] | Maximum [Member]      
Share-based compensation [Abstract]      
Stock awards vesting period 5 years    
Restricted Stock [Member] | Non-employee Directors [Member] | Minimum [Member]      
Share-based compensation [Abstract]      
Stock awards vesting period 1 year    
Restricted Stock [Member] | Non-employee Directors [Member] | Maximum [Member]      
Share-based compensation [Abstract]      
Stock awards vesting period 3 years    
Restricted Stock Units (RSUs) [Member]      
Share-based compensation [Abstract]      
Tax benefit on restricted stock awards $ 1,300 $ 1,200 $ 1,900
Unrecognized compensation cost $ 5,400    
Unrecognized compensation cost, weighted average period of recognition 1 year 4 months 24 days    
Number of Shares [Roll Forward]      
Unvested, beginning of period (in shares) 532,372    
Forfeited (in shares) (4,597)    
Vested (in shares) (126,312)    
Granted (in shares) 139,187    
Unvested, end of period (in shares) 540,650 532,372  
Weighted Average Grant Date Fair Value [Abstract]      
Unvested, beginning of period (in dollars per share) $ 32.15    
Forfeited (in dollars per share) 33.85    
Vested (in dollars per share) 31.41    
Granted (in dollars per share) 33.73    
Unvested, end of period (in dollars per share) $ 32.72 $ 32.15