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Note 8 - Stock-based Compensation (Details Textual)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jun. 11, 2020
shares
Jan. 01, 2020
Feb. 28, 2021
USD ($)
$ / shares
shares
Jul. 31, 2020
USD ($)
$ / shares
shares
Feb. 29, 2020
USD ($)
$ / shares
shares
Feb. 28, 2019
USD ($)
$ / shares
shares
Oct. 31, 2018
USD ($)
$ / shares
shares
Feb. 28, 2018
USD ($)
$ / shares
shares
Dec. 31, 2015
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2015
USD ($)
$ / shares
Nov. 13, 2014
shares
Share Price (in dollars per share) | $ / shares     $ 374.57             $ 493.33        
Proceeds, Issuance of Shares, Share-based Payment Arrangement, Excluding Option Exercised | $                   $ 17,322 $ 18,767 $ 16,650    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                   411,000 703,000 564,000    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares                   $ 357.49 $ 175.12 $ 103.68    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                   972,000 1,623,000 1,083,000    
Share-based Payment Arrangement, Expense | $                   $ 123,479 $ 85,551 $ 78,699    
Proceeds from Stock Plans | $                   4,670 3,819 3,277    
Restricted Stock Units (RSUs) [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Vested | $                   381,200 326,200 138,300    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Outstanding | $                   1,200,000        
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $                   $ 156,400        
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                   2 years        
Proceeds, Issuance of Shares, Share-based Payment Arrangement, Excluding Option Exercised | $                   $ 17,300 $ 18,800 $ 16,600    
Time-Based RSUs [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                   46,000 76,000 52,000    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares                   $ 384.33 $ 189.28 $ 141.32    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                   71,000 86,000 103,000    
Time-Based RSUs [Member] | Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                   4 years        
Time-Based RSUs [Member] | Director [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                   1 year        
PSU 2021 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares     30                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares     $ 374.57                      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)     4 years                      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate     41.40%                      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate     0.30%                      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate     0.60%                      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions     9.80%                      
PSU 2021 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)     80,000                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed     300.00%                      
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)     2 years                      
Maximum Stock Compensation Costs | $     $ 114,400                      
PSU 2021 [Member] | Executive Officer [Member] | Vesting First Quarter of 2023 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage     50.00%                      
PSU 2021 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)     14,000                      
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)     2 years                      
Maximum Stock Compensation Costs | $     $ 12,100                      
PSU 2021 [Member] | Non-Executive Employees [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed     200.00%                      
PSU 2021 [Member] | Non-Executive Employees [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed     300.00%                      
PSU 2021 [Member] | Non-Executive Employees [Member] | Vesting First Quarter of 2021 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage     50.00%                      
PSU 2020 [Member]                            
Share Price (in dollars per share) | $ / shares         $ 182.62                  
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares         30                  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares         $ 182.62                  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)         2 years                  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate         33.60%                  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate         1.40%                  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate         1.10%                  
PSU 2020 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)         100,000         300,000        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed         300.00%                  
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)         2 years                  
Maximum Stock Compensation Costs | $         $ 51,100                  
PSU 2020 [Member] | Executive Officer [Member] | Vesting First Quarter of 2022 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         50.00%                  
PSU 2020 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)         30,000         71,000        
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)         2 years                  
Maximum Stock Compensation Costs | $         $ 12,100                  
PSU 2020 [Member] | Non-Executive Employees [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed         200.00%                  
PSU 2020 [Member] | Non-Executive Employees [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed         300.00%                  
PSU 2020 [Member] | Non-Executive Employees [Member] | Vesting First Quarter of 2021 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         50.00%                  
PSU 2020 [Member] | Non-Executive Employees [Member] | Annual or Quarterly Vesting of Awards Not Based on Performance [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)         2 years                  
MPSUs 2020 [Member]                            
Share Price (in dollars per share) | $ / shares                   $ 248.71        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed       500.00%                    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)                   4 years        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate                   38.80%        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate                   0.20%        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate                   0.80%        
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions                   8.90%        
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets       5                    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                     221,000      
Share-based Payment Arrangement, Expense | $       $ 42,100                    
MPSUs 2020 [Member] | Minimum [Member]                            
Share Based Compensation Arrangement By Share Based Payment Award, Stock Price Target (in dollars per share) | $ / shares       $ 260                    
MPSUs 2020 [Member] | Maximum [Member]                            
Share Based Compensation Arrangement By Share Based Payment Award, Stock Price Target (in dollars per share) | $ / shares       $ 300                    
MPSUs 2020 [Member] | Vest on July, 2023 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage       75.00%                    
MPSUs 2020 [Member] | Vest on July 20, 2024 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage       25.00%                    
MPSUs 2020 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       43,000                    
MPSUs 2020 [Member] | Key Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       2,000                    
PSU 2019 [Member]                            
Share Price (in dollars per share) | $ / shares           $ 130.67 $ 108.43              
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares           $ 30                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)           2 years 7 months 6 days 2 years 10 months 24 days              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate           29.00% 28.70%              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate           2.50% 2.90%              
PSU 2019 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)           151,000         454,000      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed           300.00%                
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)           2 years                
Maximum Stock Compensation Costs | $           $ 46,600                
PSU 2019 [Member] | Executive Officer [Member] | Vesting First Quarter of 2023 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage           50.00%                
PSU 2019 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)             53,000     100,000        
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)             2 years              
Maximum Stock Compensation Costs | $             $ 8,100              
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares             $ 30              
PSU 2019 [Member] | Non-Executive Employees [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed             200.00%              
PSU 2019 [Member] | Non-Executive Employees [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed             300.00%              
PSU 2019 [Member] | Non-Executive Employees [Member] | Vesting First Quarter of 2023 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             50.00%              
PSU 2018 [Member]                            
Share Price (in dollars per share) | $ / shares               $ 110.00            
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)               2 years 7 months 6 days            
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate               27.50%            
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate               2.30%            
PSU 2018 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)               188,000   558,000        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed               300.00%            
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)               2 years            
Maximum Stock Compensation Costs | $               $ 45,600            
PSU 2018 [Member] | Executive Officer [Member] | Vesting First Quarter of 2021 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage               50.00%            
PSU 2018 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)               44,000     75,000      
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)               2 years            
Maximum Stock Compensation Costs | $               $ 6,000            
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares               $ 30            
PSU 2018 [Member] | Non-Executive Employees [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed               200.00%            
PSU 2018 [Member] | Non-Executive Employees [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed               300.00%            
PSU 2018 [Member] | Non-Executive Employees [Member] | Vesting First Quarter of 2021 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage               50.00%            
2015 MPSUs [Member]                            
Share Price (in dollars per share) | $ / shares                 $ 61.35       $ 61.35  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed                 500.00%          
Maximum Stock Compensation Costs | $                         $ 24,600  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate                         33.20%  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate                         1.30%  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions                         7.80%  
Number of MPSU Tranches                 4          
Share-based Compensation Arrangement by Share-based Payment Award, Post-Award Vesting Period, Restriction Period on Sales (Year)   2 years                        
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche One [Member]                            
Maximum Stock Compensation Costs | $                         $ 8,300  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets                 5       5  
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche One [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 $ 71.36          
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche One [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 $ 95.57          
2015 MPSUs [Member] | Second, Third, and Fourth Tranches [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                   600,000        
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets                 5       5  
Total number of performance conditions                 6          
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Two [Member]                            
Maximum Stock Compensation Costs | $                         $ 4,500  
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Two [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 $ 89.56          
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Two [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 106.81          
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Three [Member]                            
Maximum Stock Compensation Costs | $                         5,200  
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Three [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 120.80          
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Three [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 135.48          
2015 MPSUs [Member] | Share-based Compensation Award, Tranche Four [Member]                            
Maximum Stock Compensation Costs | $                         $ 6,600  
2015 MPSUs [Member] | Share-based Compensation Award, Tranche Four [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 126.08          
2015 MPSUs [Member] | Share-based Compensation Award, Tranche Four [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares                 $ 136.79          
2015 MPSUs [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                 86,000          
2015 MPSUs [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                 41,000          
MSUs 2018 [Member]                            
Share Price (in dollars per share) | $ / shares             $ 108.43              
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                       600,000    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed             500.00%              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate             31.60%              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate             3.00%              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions             8.70%              
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets             5              
Share-based Payment Arrangement, Expense | $                       $ 39,100    
Share-based Compensation Arrangement by Share-based Payment Award, Post-Award Vesting Period, Restriction Period on Sales (Year)             2 years              
MSUs 2018 [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares             $ 140              
MSUs 2018 [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares             $ 172              
MSUs 2018 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)             60,000              
MSUs 2018 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)             60,000              
2013 MSU's [Member]                            
Share Price (in dollars per share) | $ / shares             $ 31.73              
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed             500.00%              
Maximum Stock Compensation Costs | $             $ 38,200              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate             38.70%              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate             1.60%              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions             0.00%              
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets             5              
Total MSUs Earned (in shares)             1,800,000              
2013 MSU's [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares             $ 40              
2013 MSU's [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares             $ 56              
2013 MSU's [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)             276,000              
2013 MSU's [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)             84,000              
The2014 Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)                           5,500,000
Amended and Restated 2014 Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) 10,500,000                          
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)                   5,600,000        
Employee Stock Purchase Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)                   4.5        
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $                   $ 200        
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee (in shares)                   2,000        
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares per Employee Value (in shares)                   25,000        
Share-based Compensation Arrangement by Share-based Payment Award, Automatic Increase Shares (in shares)                   1,000,000        
Share-basedCompensation Arrangement by Share-based Payment Award, Other Than Options, Percent Increases in Period                   2.00%        
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares)                   17,000 28,000 28,000    
Employee Stock Purchase Plan Shares Issued, Intrinsic Value | $                   $ 2,400 $ 2,500 $ 700    
Proceeds from Stock Plans | $                   $ 4,700 $ 3,800 $ 3,300