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Stockholders' Equity, Stock Award and Incentive Plan (Details) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Stock Award and Incentive Plan [Abstract]      
Increase in number of shares available for issuance (in shares) 1,300,000    
Term of stock options granted under Plan 10 years    
Shares Available for Grant [Roll Forward]      
Balance, beginning of year (in shares) 529,042 866,023 1,036,505
Authorized (in shares) 1,300,000    
Granted (in shares) (394,290) (388,162) (260,508)
Exercised/vested (in shares) 0 0 0
Canceled (in shares) 97,494 51,181 90,026
Balance, end of year (in shares) 1,532,246 529,042 866,023
Minimum [Member]      
Stock Award and Incentive Plan [Abstract]      
Vesting period 1 year    
Maximum [Member]      
Stock Award and Incentive Plan [Abstract]      
Percentage of shares not subject to minimum vesting requirement 5.00%    
Stock Options [Member]      
Stock Award and Incentive Plan [Abstract]      
Vesting period 3 years    
Stock Options [Roll Forward]      
Balance, beginning of year (in shares) 1,227,620 1,054,259 996,839
Granted (in shares) 286,078 271,261 191,147
Exercised/vested (in shares) (93,099) (79,686) (98,945)
Canceled (in shares) (57,233) (18,214) (34,782)
Balance, end of year (in shares) 1,363,366 1,227,620 1,054,259
Weighted Average Exercise Price Per Share [Abstract]      
Balance, beginning of year (in dollars per share) $ 55.83 $ 54.04 $ 48.21
Granted (in dollars per share) 57.67 54.44 76.09
Exercised/vested (in dollars per share) 35.11 27.26 33.83
Canceled (in dollars per share) 63.92 66.93 65.47
Balance, end of year (in dollars per share) $ 57.29 $ 55.83 $ 54.04
Restricted Stock [Member]      
Restricted Stock [Roll Forward]      
Balance, beginning of year (in shares) 177,736 134,578 180,110
Granted (in shares) 108,212 116,901 69,361
Exercised/vested (in shares) (43,702) (40,776) (59,649)
Canceled (in shares) (40,261) (32,967) (55,244)
Balance, end of year (in shares) 201,985 177,736 134,578
Weighted Average Exercise Price Per Share [Abstract]      
Balance, beginning of year (in dollars per share) $ 62.40 $ 68.64 $ 58.57
Granted (in dollars per share) 56.93 54.51 76.26
Exercised/vested (in dollars per share) 66.07 60.79 56.44
Canceled (in dollars per share) 65.42 61.87 58.57
Balance, end of year (in dollars per share) $ 58.07 $ 62.40 $ 68.64