Stock Plans - Summary of Stock Option Activity (Details)	3 Months Ended
	Mar. 31, 2020 $ / shares shares
Shares
Outstanding, beginning balance (in shares) | shares	559,656
Exercised (in shares) | shares	(72,937)
Forfeited (in shares) | shares	(952)
Outstanding, ending balance (in shares) | shares	485,767
Exercisable (in shares) | shares	481,388
Weighted Average Exercise Price (dollars per share)
Outstanding, beginning balance (dollars per share) | $ / shares	$ 45.78
Exercised (dollars per share) | $ / shares	37.47
Forfeited (dollars per share) | $ / shares	41.98
Outstanding, ending balance (dollars per share) | $ / shares	47.03
Exercisable (dollars per share) | $ / shares	$ 47.03