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Stock Based Compensation - Narrative (Details)
1 Months Ended 12 Months Ended
May 01, 2018
Feb. 02, 2018
May 31, 2001
Dec. 31, 2021
USD ($)
factor
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of options outstanding (in shares)       440,574 475,601 518,341 707,777
Granted (in usd per share) | $ / shares       $ 0 $ 0 $ 0  
Exercised (in usd per share) | $ / shares       41.63 23.11 32.39  
Canceled (in usd per share) | $ / shares       $ 0 $ 0 $ 0  
Options exercisable (in shares)       168,614 175,601 163,741  
Options exercisable (in usd per share) | $ / shares       $ 67.62 $ 60.35 $ 45.94  
Total intrinsic values of options exercised in period | $       $ 5,800,000 $ 3,000,000 $ 10,400,000  
Total fair value of options vested | $       1,000,000 1,000,000 1,000,000  
Exercise of stock options | $       2,939,000 1,619,000 5,274,000  
Tax benefit realized for the tax deductions from option exercises | $       $ 1,900,000 $ 700,000 $ 2,400,000  
Estimated forfeiture rates       12.40% 13.00% 13.90%  
Issuance of common stock under employee stock purchase plan | $       $ 9,231,000 $ 7,382,000 $ 4,512,000  
Share-based Payment Arrangement, Option              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Incremental award ratio | factor       1.09      
Terms of award       10 years      
Award vesting periods       5 years      
Unrecognized compensation cost related to non-vested awards granted | $       $ 4,800,000      
Weighted-average period to recognize compensation cost (in years)       4 years      
Restricted Stock and Restricted Stock Unit              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock and restricted units granted (in shares)       246,251 129,786 117,566  
Restricted Stock and Restricted Stock Unit | Board of Directors              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting periods       1 year      
Restricted Stock and Restricted Stock Unit | Chief Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting periods       8 years      
Market-based Restricted Stock Awards              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Weighted-average period to recognize compensation cost (in years)       3 years 6 months 3 days      
Restricted stock and restricted units granted (in shares)       73,094 82,112 74,051  
Weighted-average grant-date fair values of restricted stock awards granted (in usd per share) | $ / shares       $ 94.40 $ 70.99 $ 69.99  
Restricted Stock and Restricted Stock Unit, Market-based Restricted Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Tax benefit realized for the tax deductions from option exercises | $       $ 9,500,000 $ 2,100,000 $ 2,400,000  
Unrecognized compensation cost related to non-vested awards granted | $       44,300,000      
Total fair value of restricted stock and restricted stock units vested | $       68,100,000 18,600,000 12,700,000  
Share-based compensation, dividends paid | $       $ 0 $ 0 $ 100,000  
Restricted Stock Units (RSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number       360,743 209,784 20,874 41,231
Share-based payment arrangement, price target, increase (decrease) | $ / shares       $ 21.41      
Weighted-average period to recognize compensation cost (in years)       3 years 10 months 24 days      
Restricted stock and restricted units granted (in shares)       319,345 210,630 3,844  
Minimum | Restricted Stock and Restricted Stock Unit | Senior Staff              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting periods       4 years      
Maximum | Restricted Stock and Restricted Stock Unit | Senior Staff              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting periods       5 years      
2015 Stock Option Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Maximum issuance of common stock (in shares)       4,200,000      
Number of options outstanding (in shares)       435,135      
Number of shares available for issuance (in shares)       1,709,569      
2015 Stock Option Plan | Restricted Stock Units (RSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number       360,743      
2015 Stock Option Plan | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Market value of common stock on the date of grant for incentive stock options       100.00%      
Employee Stock Purchase Plan | Common stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Maximum issuance of common stock (in shares)       2,000,000      
Market value of common stock on the date of grant for incentive stock options 85.00% 95.00%   85.00%      
Number of shares available for issuance (in shares)       1,295,691      
Estimated forfeiture rates       11.15% 11.15% 5.80%  
Maximum earnings withheld by the employees       15.00%      
Offering period for incentive stock options 6 months   3 months        
Issuance of shares under Employee Stock Purchase Plan (in shares)       109,248 118,629 66,413  
Employee Stock Purchase Plan | Minimum | Employee Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Purchase price under the Purchase Plan (in usd per share) | $ / shares       $ 72.92      
Employee Stock Purchase Plan | Maximum | Employee Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Purchase price under the Purchase Plan (in usd per share) | $ / shares       $ 97.84      
Two Thousand Seven Stock Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Maximum issuance of common stock (in shares)       4,500,000      
Common stock exercise price       85.00%      
Number of options outstanding (in shares)       5,439      
Number of stocks outstanding (in shares)       0