No building or structure shall be located, erected or altered in any residential zone so as to exceed three (3) stories without prior public hearing and approval by the Zoning Board of Adjustments.

In nonresidential zones, the permissible building heights shall be consistent and compatible with the surrounding buildings and shall not place an undue significant burden on adjacent or nearby properties. Buildings greater than five (5) stories shall be subject to review, with a public hearing and approval of the Zoning Board of Adjustments.