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Stock-Based Compensation - Schedule of Outstanding Restricted Stock (Details) - Long-Term Restricted Stock - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Units      
Nonvested, beginning (in shares) 223,012 206,331 172,105
Granted during the period (in shares) 143,380 95,960 104,414
Vested during the period (in shares) (74,310) (70,110) (63,369)
Forfeited or expired during the period (in shares) (791) (9,169) (6,819)
Nonvested, ending (in shares) 291,291 223,012 206,331
Weighted-Average Grant-Date Fair Value      
Nonvested, beginning (in usd per share) $ 36.14 $ 35.25 $ 33.80
Granted during the period (in usd per share) 37.08 38.09 40.56
Vested during the period (in usd per share) 29.43 36.69 39.82
Forfeited or expired during the period (in usd per share) 37.88 32.62 37.32
Nonvested, ending (in usd per share) $ 38.01 $ 36.14 $ 35.25