Shareholders' Equity - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended	12 Months Ended
	Sep. 30, 2019	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Aug. 11, 2016
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted		282,588	227,353	859,960
Actual tax benefits recognized related to stock-based compensation		$ 20.9	$ 11.7	$ 5.5
2016 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares registered and available for grant					6,000,000
Shares available for future stock compensation grants		2,600,000	2,900,000
2016 Incentive Award Plan | Granted to Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Awards granted to employees		374,235	405,237	816,286
2016 Incentive Award Plan | Non Employee Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted		10,932		41,853
Award vesting description		These awards will vest on the earlier of (a) the day immediately preceding the date of the first annual meeting following the date of grant and (b) the first anniversary of the date of grant, subject to the non-employee director continuing in service through the applicable vesting date.	These awards will vest on the earlier of (a) the day immediately preceding the date of the first annual meeting following the date of grant and (b) the first anniversary of the date of grant, subject to the non-employee director continuing in service through the applicable vesting date.	These awards will vest on the earlier of (a) the day immediately preceding the date of the first annual meeting following the date of grant and (b) the first anniversary of the date of grant, subject to the non-employee director continuing in service through the applicable vesting date.
2016 Incentive Award Plan | Non Employee Directors | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted			23,148
2016 Incentive Award Plan | Vesting After Four and a Half Years | Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted		74,725
Award vesting period		4 years 6 months
2016 Incentive Award Plan | Vesting After Four and a Half Years | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		4 years 6 months
Stock options granted		205,086
2016 Incentive Award Plan | Vesting After Two Years | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		2 years
Stock options granted		57,570
2016 Incentive Award Plan | Vesting After Four Years | Restricted Stock Awards (RSA)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted			20,724
Award vesting period			4 years
2016 Incentive Award Plan | Vesting After Four Years | Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted		27,854	177,808	227,610
Award vesting period		4 years	4 years	4 years
2016 Incentive Award Plan | Vesting After Four Years | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		4 years		4 years
Stock options granted		9,000		10,000
2016 Incentive Award Plan | Vesting After Three Years | Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted			2,500
Award vesting period			3 years
2016 Incentive Award Plan | Vesting After Three Years | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period			3 years
Stock options granted			4,800
2016 Incentive Award Plan | Fully-vested Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted			199,405	551,676
2016 Incentive Award Plan | Vesting After One Year
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period				1 year
Stock options granted				5,000
2016 Incentive Award Plan | Vesting in Twelve Equal Monthly Installments
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period				12 months
2016 Incentive Award Plan | Vesting in Twelve Equal Monthly Installments | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted				22,000
2016 Incentive Award Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation option terms		10 years
2014 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation option terms		7 years
2014 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		4 years
2014 Equity Incentive Plan | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		3 years
2014 Incentive Award Plan | Stock Options | MPI | Tender Offer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of vested options purchased by related party	229,431
2014 Incentive Award Plan | Stock Options | MPI | Selling, General and Administrative Expenses | Tender Offer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense				$ 5.1