Common Stock (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Common stock repurchases, value		$ 6,721	$ 5,229
Common Stock
Class of Stock [Line Items]
Employee stock plans (in shares)	119,142	137,911	172,261
Common Stock
Class of Stock [Line Items]
Treasury shares issued (in shares)	0	0	0
Employee stock plans (in shares)	119,000	137,000	173,000
Treasury Stock
Class of Stock [Line Items]
Common stock repurchases (in shares)	0	200,000	100,000
Common stock repurchases, value	$ 0	$ 6,721	$ 5,229
Employee stock plans (in shares)	23,000	33,000	28,000