Stock Plans - Summary of Stock Option Activity (Details)	9 Months Ended
	Sep. 30, 2020 $ / shares shares
Shares
Outstanding, beginning balance (in shares) | shares	559,656
Exercised (in shares) | shares	(162,983)
Forfeited (in shares) | shares	(954)
Outstanding, ending balance (in shares) | shares	395,719
Exercisable (in shares) | shares	392,726
Weighted Average Exercise Price (dollars per share)
Outstanding, beginning balance (dollars per share) | $ / shares	$ 45.78
Exercised (dollars per share) | $ / shares	42.76
Forfeited (dollars per share) | $ / shares	42.00
Outstanding, ending balance (dollars per share) | $ / shares	47.03
Exercisable (dollars per share) | $ / shares	$ 47.03