Stock-Based Compensation Programs - RSA and PCEQ activity (Details) - Restricted shares and restricted stock units	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Stock-Based Compensation Programs
Vesting period	5 years
Restricted stock activity, Number of shares
Beginning of the period (in shares) | shares	1,267,952
Granted (in shares) | shares	376,035
Vested (in shares) | shares	(380,103)
Canceled/forfeited (in shares) | shares	(17,480)
End of the period (in shares) | shares	1,246,404
Restricted stock activity, Weighted average grant price
Beginning of the period (in dollars per share) | $ / shares	$ 42.78
Granted (in dollars per share) | $ / shares	88.53
Vested (in dollars per share) | $ / shares	41.37
Canceled/forfeited (in dollars per share) | $ / shares	69.10
End of the period (in dollars per share) | $ / shares	$ 56.64