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Share-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Stock Options, Outstanding, Weighted Average Exercise Price [Roll Forward]        
Stock options, weighted average exercise price, beginning balance (in dollars per share) $ 43.78 $ 42.75 $ 37.68  
Stock options, granted, weighted average exercise price (in dollars per share) 35.70 46.75 42.56  
Stock options, exercised, weighted average exercise price (in dollars per share) 21.19 0 15.65  
Stock options, canceled, weighted average exercise price (in dollars per share) 28.59 46.66 0  
Stock options, weighted average exercise price, ending balance (in dollars per share) 45.97 $ 43.78 $ 42.75 $ 37.68
Stock options, exercisable, weighted average exercise price (in dollars per share) $ 49.17      
Stock Options, Additional Disclosures [Abstract]        
Stock options outstanding, weighted average remaining contractual term (in years) 2 years 6 months 25 days 2 years 7 months 6 days 3 years 18 days 2 years 11 months 8 days
Stock options, exercisable, weighted average remaining contractual term (in years) 1 year 7 months 17 days      
Stock options outstanding, aggregate intrinsic value $ 0 $ 0 $ 0 $ 6,152
Stock options, exercisable, aggregate intrinsic value 0      
Cash received or the value of stocks canceled from options exercises $ 127 $ 0 $ 439  
Employee and Non-employees        
Stock Options, Outstanding [Roll Forward]        
Granted (in shares) 0 0 0  
Stock Options        
Stock Options, Additional Disclosures [Abstract]        
Stock options exercised in period, intrinsic value $ 341 $ 0 $ 900  
Within Plans        
Stock Options, Outstanding [Roll Forward]        
Stock options outstanding, beginning balance (in shares) 217,875 162,000 147,999  
Granted (in shares) 36,000 66,000 42,000  
Exercised (in shares) (30,000) 0 (27,999)  
Canceled (in shares) (6,000) (10,125) 0  
Stock options outstanding, ending balance (in shares) 217,875 217,875 162,000 147,999
Stock options, exercisable (in shares) 115,125