Stock Plans - Summary of Stock Option Activity (Details)	6 Months Ended
	Jun. 30, 2020 $ / shares shares
Shares
Outstanding, beginning balance (in shares) | shares	559,656
Exercised (in shares) | shares	(96,101)
Forfeited (in shares) | shares	(952)
Outstanding, ending balance (in shares) | shares	462,603
Exercisable (in shares) | shares	458,919
Weighted Average Exercise Price (dollars per share)
Outstanding, beginning balance (dollars per share) | $ / shares	$ 45.78
Exercised (dollars per share) | $ / shares	38.92
Forfeited (dollars per share) | $ / shares	41.98
Outstanding, ending balance (dollars per share) | $ / shares	47.21
Exercisable (dollars per share) | $ / shares	$ 47.21