Stock-Based Compensation - Stock Options, Stock Awards, and Stock in Lieu of Directors' Fees (Details)
1 Months Ended 12 Months Ended
Jan. 31, 2022
shares
Jan. 31, 2021
shares
Jan. 31, 2020
shares
Dec. 31, 2021
USD ($)
plan
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
Dec. 31, 2019
USD ($)
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of active individual stock incentive plans | plan       1    
Shares remained available for future grants (in shares) | shares       507,699    
Stock-based compensation expense       $ 2,060,000 $ 1,905,000 $ 1,872,000
Tax benefit recognized related to stock-based compensation expense       579,000 535,000 526,000
Tax expense (benefit) from stock compensation       $ (85,000) 25,000 (137,000)
Price as a percentage of fair market value that stock options may not be granted below       100.00%    
Percentage of ownership of common stock by participants that if greater causes greater grant price       10.00%    
Price as a percentage of fair market value that stock options may not be granted below for anyone who owns more than 10% common stock       110.00%    
Expiration period of options granted for those who own more than 10% common stock       5 years    
Vested and exercisable options in-the-money (in shares) | shares       128,203    
Net proceeds from exercise of stock options       $ 159,000 21,000 185,000
Total intrinsic value of options exercised       173,000 8,000 659,000
Cash paid by the Company to net settle employee taxes on restricted stock and options       346,000 233,000 402,000
Fair value of options vested       171,000 216,000 187,000
Fair value of restricted stock awards vested       1,700,000 1,300,000 $ 1,200,000
Fair market share price (in usd per share) | $ / shares           $ 30.35
Non-Employee Director            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Tax benefit recognized related to stock-based compensation expense       71,000 80,000 $ 71,000
Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense       187,000 190,000 190,000
Tax benefit recognized related to stock-based compensation expense       $ 52,000 $ 53,000 $ 54,000
Term in years       10 years 10 years 10 years
Cash paid by the Company to net settle employee taxes on restricted stock and options       $ 16,000 $ 0 $ 157,000
Unrecognized stock-based compensation expense       $ 342,000    
Remaining vesting period unrecognized compensation expense is to be recognized       2 years 6 months    
Restricted Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Cash paid by the Company to net settle employee taxes on restricted stock and options       $ 330,000 233,000 245,000
Unrecognized stock-based compensation expense       $ 2,000,000    
Remaining vesting period unrecognized compensation expense is to be recognized       2 years 2 months 12 days    
Restricted Stock | Employee            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting period       4 years    
Restricted Stock | Non-Employee Director            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting period       2 years    
Restricted Stock and Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense       $ 1,600,000 1,400,000 1,400,000
Tax benefit recognized related to stock-based compensation expense       456,000 402,000 401,000
Common stock in Lieu of Cash | Non-Employee Director            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense       $ 252,000 $ 286,000 $ 253,000
Number of shares issued in lieu of cash to directors (in shares) | shares   11,532 8,346      
Common stock in Lieu of Cash | Non-Employee Director | Subsequent Event            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares issued in lieu of cash to directors (in shares) | shares 7,375          
Quarterly Average            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Fair market share price (in usd per share) | $ / shares       $ 34.14 $ 24.77  
Vesting, Year Two | Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Options granted, vesting percentage       50.00%    
Vesting, Year Four | Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Options granted, vesting percentage       50.00%