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Stockholders Equity and Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
The following table summarizes weighted-average assumptions used in our calculations of fair value for the year ended December 31, 2019:

Volatility27.21 %
Expected life of options3 years
Risk-free interest rate1.98 %
Dividend yield1.76 %
Share-based Payment Arrangement, Option, Activity [Table Text Block]
The following table summarizes stock option activity for the years ended December 31, 2021, 2020 and 2019:

Number of SharesWeighted Average Exercise PriceAggregate Intrinsic Value
(in thousands)		Weighted Average Remaining Contractual Life
Stock options outstanding at December 31, 20181,093,400 $45.34 $8,776 
Granted489,947 $63.87 
Exercised(338,748)$37.94 $9,641 
Cancelled and expired(108,504)$51.21 
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(196,735)$48.65 $7,168 
Cancelled and expired(21,776)$63.80 
Stock options outstanding at December 31, 2021567,316 $58.70 $8,380 2 years
Stock options exercisable at December 31, 2021453,249 $57.30 $7,282 2 years
Schedule of Non-Vested Share Activity [Table Text Block]
The following table summarizes non-vested stock options for the year ended December 31, 2021:

Number of SharesWeighted Average Fair Value
Non-vested stock options at December 31, 2020353,643 $11.66 
Vested(220,469)$11.35 
Cancelled(19,107)$12.26 
Non-vested stock options at December 31, 2021114,067 $12.16 
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 years ended December 31, 2021 and 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 
Granted24,000 $86.01 
Vested(24,000)$71.11 
Non-vested restricted stock at December 31, 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 RSU activity during the years ended December 31, 2021 and 2020:
Number of UnitsWeighted Average Fair Value
RSUs at December 31, 2019210,827 $55.31 
Granted266,880 $68.83 
Vested(73,047)$53.85 
Forfeited(57,861)$64.52 
RSUs at December 31, 2020346,799 $64.48 
Granted236,240 $78.78 
Vested(152,121)$61.06 
Forfeited(25,564)$67.07 
RSUs at December 31, 2021405,354 $73.94