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Shareholders' Equity and Share-Based Compensation - Narrative (Details)
12 Months Ended
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2015
shares
Dec. 31, 2013
Dec. 31, 2019
$ / shares
Sep. 30, 2015
USD ($)
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award            
Common stock, par value (in usd per share) | $ / shares $ 0.001 $ 0.001     $ 0.001  
Shares reacquired during period (in shares) | shares 140,758 52,095        
Percentage of outstanding shares reacquired 0.30% 0.10%        
Shares reacquired during period, value | $ $ 5,300,000 $ 2,200,000        
Share price of treasury stock acquired during period (in usd per share) | $ / shares $ 37.49 $ 41.17        
Accumulated shares repurchased (shares) | shares 1,040,226          
Accumulated average cost of share repurchase (in usd per share) | $ / shares $ 33.33          
Remaining authorized repurchase amount | $ $ 15,300,000          
Treasury stock (in shares) | shares 25,043,337 24,902,579        
Preferred stock, shares authorized (in shares) | shares 1,000,000 1,000,000        
Preferred stock, par value (in usd per share) | $ / shares $ 0.001 $ 0.001        
Preferred stock, shares issued (in shares) | shares 0 0        
Preferred stock shares outstanding | shares 0 0        
Fungible share pool, grant of full value share conversion ratio       2.5    
Intrinsic value | $ / shares $ 0          
Weighted average exercise prices of vested and exercisable options (in usd per share) | $ / shares 37.94 $ 36.59     $ 34.81  
Share price (in usd per share) | $ / shares $ 38.70          
Aggregate intrinsic value of vested options | $ $ 1,500,000          
Aggregate intrinsic value of options | $ $ 1,500,000          
Minimum | Employee stock option            
Share-based Compensation Arrangement by Share-based Payment Award            
Vesting period 4 years          
Expiration period 7 years          
Minimum | Restricted stock units            
Share-based Compensation Arrangement by Share-based Payment Award            
Vesting period 1 year          
Maximum | Employee stock option            
Share-based Compensation Arrangement by Share-based Payment Award            
Expiration period 10 years          
Maximum | Restricted stock units            
Share-based Compensation Arrangement by Share-based Payment Award            
Vesting period 4 years          
2015 Plan            
Share-based Compensation Arrangement by Share-based Payment Award            
Authorized repurchase amount | $           $ 50,000,000
Common stock, par value (in usd per share) | $ / shares           $ 0.001
Comprehensive Plan            
Share-based Compensation Arrangement by Share-based Payment Award            
Amended increase in shares reserved for issuance (in shares) | shares     2,500,000      
Shares available for grant (in shares) | shares 2,688,416