Shareholders' Equity and Share-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Weighted Average Option Price per Share
Weighted Average Option Price per Share, Beginning Balance (in usd per share)	$ 38.99
Weighted Average Option Price per Share, Options Granted (in usd per share)	40.10
Weighted Average Option Price per Share, Options Vested (in usd per share)	41.27
Weighted Average Option Price per Share, Options Exercised (in usd per share)	31.35
Weighted Average Option Price per Share, Options Forfeited (in usd per share)	41.39
Weighted Average Option Price per Share, Options Expired (in usd per share)	42.23
Weighted Average Option Price per Share, Ending Balance (in usd per share)	$ 39.10	$ 38.99
Outstanding
Options Outstanding, Beginning Balance (in shares)	916,287	908,557
Options Outstanding, Granted (in shares)	183,272	234,248	282,040
Options Outstanding, Vested (in shares)	0
Options Outstanding, Exercised (in shares)	(8,015)
Options Outstanding, Forfeited (in shares)	(49,411)
Options Outstanding, Expired (in shares)	(10,005)
Options Outstanding, Ending Balance (in shares)	1,032,128	916,287	908,557
Vested and Exercisable
Options Vested and Exercisable, Beginning Balance (in shares)	437,197
Options Vested and Exercisable, Granted (in shares)	0
Options Vested and Exercisable, Vested (in shares)	163,519
Options Vested and Exercisable, Exercisable (in shares)	(8,015)
Options Vested and Exercisable, Forfeited (in shares)	0
Options Vested and Exercisable, Expired (in shares)	0
Options Vested and Exercisable, Ending Balance (in shares)	592,701	437,197
Minimum
Weighted Average Option Price per Share
Weighted Average Option Price per Share, Beginning Balance (in usd per share)	$ 28.88
Weighted Average Option Price per Share, Options Granted (in usd per share)	40.1
Weighted Average Option Price per Share, Options Vested (in usd per share)	28.88
Weighted Average Option Price per Share, Options Exercised (in usd per share)	31.01
Weighted Average Option Price per Share, Options Forfeited (in usd per share)	41.1
Weighted Average Option Price per Share, Options Expired (in usd per share)	41.83
Weighted Average Option Price per Share, Ending Balance (in usd per share)	28.88	$ 28.88
Maximum
Weighted Average Option Price per Share
Weighted Average Option Price per Share, Beginning Balance (in usd per share)	42.95
Weighted Average Option Price per Share, Options Granted (in usd per share)	40.1
Weighted Average Option Price per Share, Options Vested (in usd per share)	42.95
Weighted Average Option Price per Share, Options Exercised (in usd per share)	32.35
Weighted Average Option Price per Share, Options Forfeited (in usd per share)	42.73
Weighted Average Option Price per Share, Options Expired (in usd per share)	42.73
Weighted Average Option Price per Share, Ending Balance (in usd per share)	$ 42.95	$ 42.95