Shareholders' Equity and Share-Based Compensation - Stock Option Information by Ranges of Exercise Prices (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, options (in shares)	1,402,514	1,194,352
Total outstanding options, weighted average option price per share (in usd per share)	$ 38.85	$ 39.41
Total outstanding options, weighted average remaining term	5 years 8 months 8 days
Vested and exercisable options (in shares)	942,532	766,444
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 38.98	$ 38.60	$ 37.94
Vested and exercisable options, weighted average remaining term	4 years 5 months 8 days
Range One
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, options (in shares)	213,890
Total outstanding options, weighted average option price per share (in usd per share)	$ 30.94
Total outstanding options, weighted average remaining term	2 years 3 months 21 days
Vested and exercisable options (in shares)	194,326
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 30.82
Vested and exercisable options, weighted average remaining term	1 year 7 months 6 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)	388,544
Total outstanding options, weighted average option price per share (in usd per share)	$ 37.51
Total outstanding options, weighted average remaining term	7 years 1 month 6 days
Vested and exercisable options (in shares)	199,080
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 38.96
Vested and exercisable options, weighted average remaining term	5 years 1 month 13 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)	$ 35.98
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)	$ 38.99
Range Three
Summary of options outstanding segregated by ranges of exercise prices
Total outstanding options, options (in shares)	800,080
Total outstanding options, weighted average option price per share (in usd per share)	$ 41.62
Total outstanding options, weighted average remaining term	5 years 10 months 28 days
Vested and exercisable options (in shares)	549,126
Vested and exercisable options, weighted average option price per share (in usd per share)	$ 41.87
Vested and exercisable options, weighted average remaining term	5 years 2 months 8 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)	$ 40.10
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