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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 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 six months ended June 30, 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(125,534)$49.75 $4,758 
Cancelled and expired(8,808)$64.04 
Stock options outstanding at June 30, 2021651,485 $57.49 $18,927 2 years
Stock options exercisable at June 30, 2021419,532 $53.23 $13,973 2 years
Schedule of Non-vested Share Activity [Table Text Block]
The following table summarizes non-vested stock options for the six months ended June 30, 2021:
Number of SharesWeighted Average Fair Value
Non-vested stock options at December 31, 2020353,643 $11.66 
Vested(113,516)$10.06 
Cancelled(8,174)$12.25 
Non-vested stock options at June 30, 2021231,953 $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 and the six months ended June 30, 2021:
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 
Granted24,000 $86.01 
Vested(24,000)$71.11 
Non-vested restricted stock at June 30, 202124,000 $86.01 
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 six months ended June 30, 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 
Granted197,580 $78.62 
Vested(93,129)$61.11 
Forfeited(10,816)$58.13 
Non-vested RSUs at June 30, 2021440,434 $71.69