Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of Options
Outstanding at beginning of the year (in shares)	774	745	597
Granted (in shares)	80	109	170
Exercised (in shares)	(54)	(80)	(22)
Forfeited/canceled/expired (in shares)	0	0	0
Outstanding at end of the year (in shares)	800	774	745
Vested and expected to vest at the end of the year (in shares)	800	774	745
Exercisable at the end of the year (in shares)	656	582	517
Weighted-Average Exercise Price
Outstanding at beginning of the year (in dollars per share)	$ 43.01	$ 41.73	$ 44.27
Granted (in dollars per share)	59.43	46.17	30.08
Exercised (in dollars per share)	30.04	35.28	20.34
Forfeited/canceled/expired (in dollars per share)	0	0	0
Outstanding at end of the year (in dollars per share)	45.55	43.01	41.73
Vested and expected to vest at the end of the year (in dollars per share)	45.55	43.01	41.73
Exercisable at the end of the year (in dollars per share)	$ 44.08	$ 43.90	$ 44.95
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value
Outstanding at end of the year	3 years 1 month 24 days	3 years 8 months 15 days	3 years 11 months 19 days
Vested and expected to vest at the end of the year	3 years 1 month 24 days	3 years 8 months 15 days	3 years 11 months 19 days
Exercisable at the end of the year	2 years 6 months 29 days	2 years 11 months 23 days	3 years 3 days
Exercised	$ 931	$ 1,334	$ 569
Outstanding at end of the year	3,780	9,228	9,798
Vested and expected to vest at the end of the year	3,780	9,228	9,798
Exercisable at the end of the year	$ 3,608	$ 6,887	$ 5,636