Stockholders' Equity, Stock Award and Incentive Plan (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares Available for Grant [Roll Forward]
Balance, beginning of year (in shares)	1,080,460	1,268,770	1,532,246
Granted (in shares)	(358,463)	(341,187)	(358,078)
Exercised/vested (in shares)	0	0	0
Canceled (in shares)	58,918	152,877	94,602
Balance, end of year (in shares)	780,915	1,080,460	1,268,770
Stock Options [Member]
Stock Award and Incentive Plan [Abstract]
Term of stock options granted under Plan	10 years
Vesting period	3 years
Stock Options [Roll Forward]
Balance, beginning of year (in shares)	1,363,418	1,330,002	1,363,366
Granted (in shares)	255,620	242,723	255,769
Exercised/vested (in shares)	(91,604)	(121,992)	(251,195)
Canceled (in shares)	(12,972)	(87,315)	(37,938)
Balance, end of year (in shares)	1,514,462	1,363,418	1,330,002
Weighted Average Exercise Price Per Share [Abstract]
Balance, beginning of year (in dollars per share)	$ 62.22	$ 59.91	$ 57.29
Granted (in dollars per share)	66.08	69.81	66
Exercised/vested (in dollars per share)	56.82	46.81	51.12
Canceled (in dollars per share)	67.54	69.49	64.92
Balance, end of year (in dollars per share)	$ 63.15	$ 62.22	$ 59.91
Restricted Stock Units [Member]
Restricted Stock [Roll Forward]
Balance, beginning of year (in shares)	176,594	196,133	201,985
Granted (in shares)	102,843	98,464	102,309
Exercised/vested (in shares)	(46,141)	(52,441)	(51,497)
Canceled (in shares)	(45,946)	(65,562)	(56,664)
Balance, end of year (in shares)	187,350	176,594	196,133
Weighted Average Exercise Price Per Share [Abstract]
Balance, beginning of year (in dollars per share)	$ 66.32	$ 60.87	$ 58.07
Granted (in dollars per share)	66.01	69.7	66.2
Exercised/vested (in dollars per share)	64.25	58.92	60.4
Canceled (in dollars per share)	64.33	61	60.98
Balance, end of year (in dollars per share)	$ 67.15	$ 66.32	$ 60.87