Shareholders' Equity and Share-Based Compensation - Stock Option Information by Ranges of Exercise Prices (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, options (in shares)	1,194,352	1,032,128
Total outstanding options, weighted average option price per share (in usd per share)	$ 39.41	$ 39.10
Total outstanding options, weighted average remaining term	6 years 25 days
Vested and exercisable options (in shares)	766,444	592,701
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 38.60	$ 37.94	$ 36.59
Vested and exercisable options, weighted average remaining term	4 years 11 months 4 days
Range One
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, options (in shares)	195,192
Total outstanding options, weighted average option price per share (in usd per share)	$ 30.81
Total outstanding options, weighted average remaining term	2 years 7 months 2 days
Vested and exercisable options (in shares)	195,192
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 30.81
Vested and exercisable options, weighted average remaining term	2 years 7 months 2 days
Range One | Minimum
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, weighted average option price per share (in usd per share)	$ 28.88
Range One | Maximum
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, weighted average option price per share (in usd per share)	$ 32.35
Range Two
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, options (in shares)	525,180
Total outstanding options, weighted average option price per share (in usd per share)	$ 40.07
Total outstanding options, weighted average remaining term	7 years 8 months 15 days
Vested and exercisable options (in shares)	191,968
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 39.19
Vested and exercisable options, weighted average remaining term	6 years 6 months 14 days
Range Two | Minimum
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, weighted average option price per share (in usd per share)	$ 38.05
Range Two | Maximum
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, weighted average option price per share (in usd per share)	$ 41.39
Range Three
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, options (in shares)	473,980
Total outstanding options, weighted average option price per share (in usd per share)	$ 42.22
Total outstanding options, weighted average remaining term	5 years 8 months 8 days
Vested and exercisable options (in shares)	379,284
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 42.31
Vested and exercisable options, weighted average remaining term	5 years 3 months 25 days
Range Three | Minimum
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, weighted average option price per share (in usd per share)	$ 41.83
Range Three | Maximum
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, weighted average option price per share (in usd per share)	$ 42.95