Basis of Presentation and Significant Accounting Policies - Fair Value Assumptions for Stock Option Pricing (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of stock options granted (in shares)	162,224	183,272	234,248
Weighted average grant date fair value of stock options granted (in usd per share)	$ 8.51	$ 7.73	$ 6.02
Weighted average assumptions:
Expected dividend yield	3.20%	3.00%	2.70%
Expected life, in years	5 years 2 months 12 days	5 years 1 month 6 days	5 years 1 month 6 days
Expected volatility (based on historical volatility)	30.20%	30.10%	22.80%
Options Member
Weighted average assumptions:
Risk-free interest rate	1.90%	0.80%	0.80%