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Stock-Based Compensation (Tables)
 3 Months Ended
Mar. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share-based Payment Arrangement, Option, Activity [Table Text Block]
The following table summarizes stock option activity for the year ended December 31, 2020 and the three months ended March 31, 2021:
Number of SharesWeighted Average Exercise PriceAggregate Intrinsic Value
(in thousands)		Weighted Average Remaining Contractual Life
Stock options outstanding at December 31, 20191,136,095 $54.98 $28,291 
Exercised(223,405)$46.72 $6,897 
Cancelled and expired(126,863)$61.17 
Stock options outstanding at December 31, 2020785,827 $56.33 $25,629 
Exercised(61,804)$48.83 $2,464 
Cancelled and expired(5,016)$62.88 
Stock options outstanding at March 31, 2021719,007 $56.92 $21,588 3 years
Stock options exercisable at March 31, 2021482,337 $52.87 $16,437 2 years
Schedule of Non-vested Share Activity [Table Text Block]
The following table summarizes non-vested stock options for the three months ended March 31, 2021:
Number of SharesWeighted Average Fair Value
Non-vested stock options at December 31, 2020353,643 $11.66 
Vested(112,591)$10.04 
Cancelled(4,382)$12.05 
Non-vested stock options at March 31, 2021236,670 $12.42 
Restricted Stock [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Share-based Compensation, Restricted Stock Activity [Table Text Block] The following table summarizes the restricted stock activity during the year ended December 31, 2020.
Number of SharesWeighted Average Fair Value
Non-vested restricted stock at December 31, 201924,000 $62.66 
Granted24,000 $71.11 
Vested(24,000)$62.66 
Non-vested restricted stock at December 31, 202024,000 $71.11 
Restricted Stock Units (RSUs) [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Share-based Compensation, Restricted Stock Activity [Table Text Block]
The following table summarizes the non-vested RSU activity during the year ended December 31, 2020 and the three months ended March 31, 2021:
Number of UnitsWeighted Average Fair Value
Non-vested RSUs at December 31, 2019210,827 $55.31 
Granted266,880 $68.83 
Vested(73,047)$53.85 
Forfeited(57,861)$64.52 
Non-vested RSUs at December 31, 2020346,799 $64.48 
Granted196,310 $78.60 
Vested(93,062)$61.10 
Forfeited(9,766)$56.57 
Non-vested RSUs at March 31, 2021440,281 $71.67