Shareholders' Equity and Common Stock Equivalents - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Weighted Average Option Price per Share
Weighted Average Option Price per Share, Beginning Balance (in usd per share)	$ 36.65
Weighted Average Option Price per Share, Options Granted (in usd per share)	39.22
Weighted Average Option Price per Share, Options Vested (in usd per share)	34.46
Weighted Average Option Price per Share, Options Exercised (in usd per share)	26.98
Weighted Average Option Price per Share, Options Forfeited (in usd per share)	39.97
Weighted Average Option Price per Share, Options Expired (in usd per share)	0
Weighted Average Option Price per Share, Ending Balance (in usd per share)	$ 37.82	$ 36.65
Outstanding
Options Outstanding, Beginning Balance (in shares)	774,821	719,015
Options Outstanding, Granted (in shares)	282,040	223,208	222,828
Options Outstanding, Vested (in shares)	0
Options Outstanding, Exercised (in shares)	(64,095)
Options Outstanding, Forfeited (in shares)	(84,209)
Options Outstanding, Expired (in shares)	0
Options Outstanding, Ending Balance (in shares)	908,557	774,821	719,015
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Exercisable [Roll Forward]
Options Vested and Exercisable, Beginning Balance (in shares)	271,116
Options Vested and Exercisable, Granted (in shares)	0
Options Vested and Exercisable, Vested (in shares)	161,679
Options Vested and Exercisable, Exercisable (in shares)	(64,095)
Options Vested and Exercisable, Forfeited (in shares)	0
Options Vested and Exercisable, Expired (in shares)	0
Options Vested and Exercisable, Ending Balance (in shares)	368,700	271,116
Minimum
Weighted Average Option Price per Share
Weighted Average Option Price per Share, Ending Balance (in usd per share)	$ 42.95
Share-based Compensation Arrangement by Share-based Payment Award, Options, Range of Option Prices [Roll Forward]
Range of Option Prices per Share, Beginning Balance (in usd per share)	17.32
Range of Option Prices per Share, Granted (in usd per share)	38.99
Range of Option Prices per Share, Vested (in usd per share)	20.60
Range of Option Prices per Share, Exercised (in usd per share)	17.32
Range of Option Prices per Share, Forfeited (in usd per share)	31.01
Range of Option Prices per Share, Expired (in usd per share)	0
Range of Option Prices per Share, Ending Balance (in usd per share)	20.60	$ 17.32
Maximum
Weighted Average Option Price per Share
Weighted Average Option Price per Share, Ending Balance (in usd per share)	44.75
Share-based Compensation Arrangement by Share-based Payment Award, Options, Range of Option Prices [Roll Forward]
Range of Option Prices per Share, Beginning Balance (in usd per share)	44.75
Range of Option Prices per Share, Granted (in usd per share)	42.73
Range of Option Prices per Share, Vested (in usd per share)	44.75
Range of Option Prices per Share, Exercised (in usd per share)	42.95
Range of Option Prices per Share, Forfeited (in usd per share)	44.75
Range of Option Prices per Share, Expired (in usd per share)	0
Range of Option Prices per Share, Ending Balance (in usd per share)	$ 44.75	$ 44.75