Shareholders' Equity - Stock Option Activity (Details) - Stock options $ / shares in Units, $ in Millions	9 Months Ended
	Sep. 30, 2022 USD ($) $ / shares shares		Sep. 30, 2021 USD ($)
Stock options, Shares Subject to Options
Outstanding at the beginning of the period (in shares) | shares	1,355,152
Granted (in shares) | shares	73,365
Exercised (in shares) | shares	(163,439)
Forfeited /Expired (in shares) | shares	(3,886)
Outstanding at the end of the period (in shares) | shares	1,261,192
Exercisable at the end of the period (in shares) | shares	1,037,141
Exercisable and expected to vest at the end of the period (in shares) | shares	1,233,176	[1]
Stock options, Weighted Average Option Price
Outstanding at the beginning of the period (in dollars per share) | $ / shares	$ 30.98
Granted (in dollars per share) | $ / shares	65.43
Exercised (in dollars per share) | $ / shares	24.98
Forfeited (in dollars per share) | $ / shares	22.88
Outstanding at the end of the period (in dollars per share) | $ / shares	33.78
Exercisable at the end of the period (in dollars per share) | $ / shares	27.59
Exercisable and expected to vest at the end of the period (in dollars per share) | $ / shares	$ 33.07	[1]
Stock options, additional information
Weighted Average Remaining Contractual Term, Outstanding	3 years 9 months 18 days
Weighted Average Remaining Contractual Term, Exercisable	3 years 3 months 18 days
Weighted Average Remaining Contractual Term, Exercisable and expected to vest	3 years 9 months 18 days	[1]
Aggregate Intrinsic Value, Outstanding | $	$ 27.8	[2]
Aggregate Intrinsic Value, Exercisable | $	27.1	[2]
Aggregate Intrinsic Value, Exercisable and expected to vest | $	27.7	[1]
Intrinsic value of options exercised | $	$ 6.6		$ 31.8

[1] Represents the number of vested options at September 30, 2022, plus the number of unvested options at September 30, 2022 that are ultimately expected to vest based on our estimated forfeiture rate.

[2] The aggregate intrinsic value is based on the positive difference between the exercise price of the underlying options and the quoted price of our common stock on September 30, 2022.