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Equity Awards - RSU (Details) - Restricted stock and restricted stock units - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of shares or units      
Beginning Balance (in shares) 494,969 468,950 737,950
Grants (in shares) 321,965 150,107 158,748
Vested (in shares) (77,586) (116,724) (393,588)
Forfeitures (in shares) (31,807) (7,364) (34,160)
Ending Balance (in shares) 707,541 494,969 468,950
Weighted- average grant price      
Beginning Balance, weighted-average grant price (in dollars per share) $ 117.91 $ 98.98 $ 114.43
Grants, weighted-average grant price (in dollars per share) 88.02 140.39 128.87
Vested shares, weighted-average grant price (in dollars per share) 92.38 69.94 141.75
Forfeitures, weighted-average grant price (in dollars per share) 121.80 130.68 79.02
Ending Balance, weighted-average grant price (in dollars per share) $ 106.93 $ 117.91 $ 98.98