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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2018
Stockholders' Equity [Abstract]  
Stock option and restricted stock activity
The following table summarizes stock option and restricted stock activity for the Plans:

     
Stock Options
  
Restricted Shares
 
  
Shares
Available
for Grant
  
Shares
  
Weighted Average
Exercise Price
per Share ($)
  
Shares
  
Weighted Average
Exercise Price
per Share ($)
 
Balance January 1, 2016
  
1,491,965
   
1,091,844
  
$
42.29
   
284,245
  
$
58.63
 
Granted
  
(538,787
)
  
383,622
   
38.59
   
155,165
   
38.37
 
Exercised/vested
  
—
   
(150,944
)
  
36.66
   
(88,746
)
  
57.38
 
Canceled
  
249,248
   
(125,797
)
  
43.78
   
(123,451
)
  
50.72
 
Balance December 31, 2016
  
1,202,426
   
1,198,725
   
41.66
   
227,213
   
49.57
 
Granted
  
(257,072
)
  
187,533
   
77.99
   
69,539
   
78.00
 
Exercised/vested
  
—
   
(353,636
)
  
41.56
   
(61,274
)
  
52.51
 
Canceled
  
91,151
   
(35,783
)
  
50.47
   
(55,368
)
  
52.74
 
Balance December 31, 2017
  
1,036,505
   
996,839
   
48.21
   
180,110
   
58.57
 
Granted
  
(260,508
)
  
191,147
   
76.09
   
69,361
   
76.26
 
Exercised/vested
  
—
   
(98,945
)
  
33.83
   
(59,649
)
  
56.44
 
Canceled
  
90,026
   
(34,782
)
  
65.74
   
(55,244
)
  
58.57
 
Balance December 31, 2018
  
866,023
   
1,054,259
   
54.04
   
134,578
   
68.64