Debt - Narrative (Details)	1 Months Ended	12 Months Ended
	Mar. 31, 2019 USD ($) fiscal_quarter instance	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Dec. 31, 2012 USD ($) tranche
Line of Credit Facility [Line Items]
Long-term debt, gross		$ 253,500,000	$ 255,700,000
Less: current portion of long-term debt		44,200,000	2,300,000
Long-term debt, net		208,800,000	252,900,000
Number of tranches | tranche					3
Unamortized debt issuance costs remaining		500,000	500,000
Interest expense		10,200,000	9,600,000	$ 9,400,000
Aggregate annual maturities of long-term debt [Abstract]
2022		44,200,000
2023		2,300,000
2024		134,000,000
2025		0
2026		0
Thereafter		73,000,000
Revolving credit facility, due 2024
Line of Credit Facility [Line Items]
Line of credit facility, current borrowing capacity	$ 300,000,000
Credit available for the issuance of letters of credit	30,000,000
Line of credit facility, additional borrowing capacity	$ 350,000,000
Preceding period	12 months
Number of instances not to exceed | instance	3
Number of quarters following acquisition | fiscal_quarter	4
Debt issuance costs		100,000	400,000
Line of credit, noncurrent		0
Line of credit facility, unused commitment level		297,600,000
Revolving credit facility, due 2024 | Minimum
Line of Credit Facility [Line Items]
Ratio of debt to EBITDA	3.5
Revolving credit facility, due 2024 | Maximum
Line of Credit Facility [Line Items]
Ratio of debt to EBITDA	4.0
Term Loan, due December 31, 2024 (1.10%)
Line of Credit Facility [Line Items]
Debt issuance costs		100,000	100,000
Debt instrument, face amount				$ 90,000,000
Long-term debt, gross		85,500,000	87,700,000
Less: current portion of long-term debt		2,200,000
Long-term debt, net		$ 83,300,000
Debt instrument, stated interest rate		1.10%
Senior Notes
Line of Credit Facility [Line Items]
Debt instrument, face amount					$ 168,000,000
Weighted average of the coupon interest rate					3.87%
Unamortized debt issuance costs remaining		$ 300,000	$ 400,000
Senior Notes | Series A notes, due July 5, 2022 (3.67%)
Line of Credit Facility [Line Items]
Debt instrument, face amount					$ 42,000,000
Debt instrument, stated interest rate					3.67%
Senior Notes | Series B notes, due July 5, 2024 (3.82%)
Line of Credit Facility [Line Items]
Debt instrument, face amount					$ 53,000,000
Debt instrument, stated interest rate					3.82%
Senior Notes | Series C notes, due July 5, 2027 (4.02%)
Line of Credit Facility [Line Items]
Debt instrument, face amount					$ 73,000,000
Debt instrument, stated interest rate					4.02%
Domestic Line of Credit | Revolving credit facility, due 2024
Line of Credit Facility [Line Items]
Credit facility is available for swing-line loans	$ 30,000,000
Foreign Line of Credit | Revolving credit facility, due 2024
Line of Credit Facility [Line Items]
Credit facility is available for swing-line loans	$ 20,000,000
Fed Funds Effective Rate Overnight Index Swap Rate | Revolving credit facility, due 2024
Line of Credit Facility [Line Items]
Basis spread on variable interest rate	0.50%
Base Rate | Minimum
Line of Credit Facility [Line Items]
Basis spread on variable interest rate	0.00%
Base Rate | Maximum
Line of Credit Facility [Line Items]
Basis spread on variable interest rate	0.375%
London Interbank Offered Rate (LIBOR) | Revolving credit facility, due 2024
Line of Credit Facility [Line Items]
Basis spread on variable interest rate	1.00%
London Interbank Offered Rate (LIBOR) | Revolving credit facility, due 2024 | Minimum
Line of Credit Facility [Line Items]
Basis spread on variable interest rate	0.875%
London Interbank Offered Rate (LIBOR) | Revolving credit facility, due 2024 | Maximum
Line of Credit Facility [Line Items]
Basis spread on variable interest rate	1.375%
London Interbank Offered Rate (LIBOR) | Term Loan, due December 31, 2024 (1.10%)
Line of Credit Facility [Line Items]
Basis spread on variable interest rate				87.50%
Letter of Credit | Revolving credit facility, due 2024
Line of Credit Facility [Line Items]
Outstanding amount		$ 2,400,000