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Summary of stock options outstanding (Details)
12 Months Ended
Dec. 31, 2021
$ / shares
shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Remaining life 4 years 8 months 11 days
Shares exercisable | shares 96,586
Weighted average exercise price | $ / shares $ 37.26
Shares exercisable | shares 104,755
Weighted average exercise price | $ / shares $ 37.93
Remaining life 4 years 9 months 17 days
Forty Four Point Thirty One To Forty Five Point Ninety Seven [Member]  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Shares exercisable, nonvested | shares 8,169
Weighted average exercise price | $ / shares $ 45.94
Remaining life, nonvested 6 years 10 months 23 days
Shares exercisable | shares 45,376
Weighted average exercise price | $ / shares $ 45.19
Remaining life 6 years 4 months 24 days
Nineteen Point Sixty Eight To Twenty Nine Point Fifty Two [Member]  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Shares exercisable | shares 20,080
Weighted average exercise price | $ / shares $ 22.66
Remaining life 1 year 8 months 12 days
Twenty Nine Point Fifty Three To Forty Four Point Thirty [Member]  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Shares exercisable | shares 31,130
Weighted average exercise price | $ / shares $ 35.11
Remaining life 4 years