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Equity Incentive Award Plan (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Equity Incentive Plan        
Shares of common stock reserved for issuance 6,000,000      
Shares of common stock that were available for issuance 3,109,189      
Stock Options        
Number of Shares Subject to Option        
Options outstanding at the beginning of the period (in shares) 340,210 758,095 1,133,915  
Exercised (in shares) (74,660) (410,322) (307,022)  
Forfeited (in shares)   (7,281) (64,851)  
Expired (in shares)   (282) (3,947)  
Options outstanding at the end of the period (in shares) 265,550 340,210 758,095 1,133,915
Exercisable at the end of the period (in shares) 249,227 234,943 474,132  
Number of Shares Subject to Option        
Unvested balance at the beginning of the period (in shares) 105,267 283,964 635,739  
Forfeited (in shares)   (7,281) (64,851)  
Vested (in shares) (88,944) (171,416) (286,924)  
Unvested balance at the end of the period (in shares) 16,323 105,267 283,964 635,739
Weighted Average Fair Value at Grant        
Unvested balance at the beginning of the period (in dollars per share) $ 9.13 $ 7.75 $ 7.10  
Forfeited (in dollars per share)   8.48 8.03  
Vested (in dollars per share) 8.97 6.86 6.25  
Unvested balance at the end of the period (in dollars per share) $ 9.99 $ 9.13 $ 7.75 $ 7.10
Compensation cost not yet recognized        
Unearned compensation $ 0.1      
Vesting period 2 months 12 days      
Weighted Average Remaining Contractual Term        
Options outstanding at the end of the period 5 years 5 years 9 months 18 days 6 years 8 months 12 days 7 years 7 months 6 days
Exercisable at the end of the period 4 years 10 months 24 days 5 years 4 months 24 days 6 years 4 months 24 days  
Aggregate Intrinsic Value        
Exercised $ 3.8 $ 12.0 $ 5.6  
Outstanding at the end of the period 15.0 11.9 13.7 $ 14.0
Exercisable at the end of the period $ 14.2 $ 9.0 $ 9.6  
Stock Options | Weighted Average        
Weighted Average Exercise Price        
Options outstanding at the beginning of the period (in dollars per share) $ 21.77 $ 20.94 $ 19.89  
Exercised (in dollars per share) 17.27 20.15 16.10  
Forfeited (in dollars per share)   27.53 25.83  
Expired (in dollars per share)   15.23 15.80  
Options outstanding at the end of the period (in dollars per share) 22.96 21.77 20.94 $ 19.89
Exercisable at the end of the period (in dollars per share) $ 22.29 $ 18.47 $ 18.78  
Restricted Awards        
Restricted Awards and PSA's        
Unvested balance at the beginning of the period (in shares) 377,612 394,016 495,151  
Granted (in shares) 182,628 187,644 216,175  
Forfeited (in shares) (37,383) (34,788) (109,798)  
Vested (in shares) (199,216) (169,260) (207,512)  
Unvested balance at the end of the period (in shares) 323,641 377,612 394,016 495,151
Weighted Average Fair Value at Grant        
Unvested balance at the beginning of the period (in dollars per share) $ 38.51 $ 29.10 $ 25.08  
Granted (in dollars per share) 66.69 47.41 31.51  
Forfeited (in dollars per share) 53.87 36.06 27.64  
Vested (in dollars per share) 36.57 26.96 22.79  
Unvested balance at the end of the period (in dollars per share) $ 53.84 38.51 29.10 $ 25.08
Compensation cost not yet recognized        
Unearned compensation $ 12.3      
Restricted Awards | Weighted Average        
Compensation cost not yet recognized        
Vesting period 2 years 6 months      
PSAs        
Weighted Average Fair Value at Grant        
Unvested balance at the beginning of the period (in dollars per share) $ 42.78 25.89    
Granted (in dollars per share) 84.78 61.22 25.89  
Forfeited (in dollars per share) 69.12 43.38 25.89  
Vested (in dollars per share) 42.17 25.89 25.89  
Unvested balance at the end of the period (in dollars per share) $ 54.24 $ 42.78 $ 25.89  
Compensation cost not yet recognized        
Unearned compensation $ 2.9      
Percentage of awards eligible to be earned upon TSR achievement in year one of the performance period 20.00%      
Percentage of awards eligible to be earned upon TSR achievement in year two of the performance period 20.00%      
Percentage of awards earned upon TSR achievement in year three of the performance period 20.00%      
Percentage of awards eligible to be earned upon cumulative TSR achievement over the three-year performance period 40.00%      
Assumptions used to value the stock options granted        
Expected term 2 years 9 months 29 days 2 years 9 months 29 days 2 years 9 months 29 days  
Expected volatility (as a percent) 25.29% 25.51% 32.98%  
Risk-free rate (as a percent) 0.97% 1.02% 0.64%  
PSAs | 2010 Plan        
Assumptions used to value the stock options granted        
Performance period 3 years      
PSAs | Weighted Average        
Compensation cost not yet recognized        
Vesting period 2 years      
PSAs | Minimum        
Restricted Awards and PSA's        
Unvested balance at the beginning of the period (in shares) 19,591      
Granted (in shares) 11,796 11,222    
Performance adjustment 29,256 9,981    
Forfeited (in shares) (13,474) (1,018)    
Vested (in shares) (1,894) (594)    
Unvested balance at the end of the period (in shares) 45,275 19,591    
PSAs | Minimum | 2010 Plan        
Compensation cost not yet recognized        
Percentage of target number of shares for PSAs granted in 2014 0.00%      
Percentage of target number of shares for PSAs granted in years 2015 and 2016 25.00%      
PSAs | Maximum        
Restricted Awards and PSA's        
Unvested balance at the beginning of the period (in shares) 142,963 85,851    
Granted (in shares) 82,572 78,553 91,335  
Performance adjustment   (7,190)    
Forfeited (in shares) (55,916) (13,657) (5,484)  
Vested (in shares) (1,894) (594)    
Unvested balance at the end of the period (in shares) 167,725 142,963 85,851  
PSAs | Maximum | 2010 Plan        
Compensation cost not yet recognized        
Percentage of target number of shares for PSAs granted in 2014 150.00%      
Percentage of target number of shares for PSAs granted in years 2015 and 2016 175.00%      
PSAs | Target        
Restricted Awards and PSA's        
Unvested balance at the beginning of the period (in shares) 91,488 57,233    
Granted (in shares) 47,184 44,886 60,889  
Performance adjustment 11,893 (1,465)    
Forfeited (in shares) (34,695) (8,572) (3,656)  
Vested (in shares) (1,894) (594)    
Unvested balance at the end of the period (in shares) 113,976 91,488 57,233