Shareholders' Equity - Stock Option Activity (Details) - Stock options - USD ($)		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock options, Shares Subject to Options
Outstanding at the beginning of the period (in shares)		1,355,152
Granted (in shares)		73,365
Exercised (in shares)		(251,006)
Forfeited /Expired (in shares)		(3,886)
Outstanding at the end of the period (in shares)		1,173,625	1,355,152
Exercisable at the end of the period (in shares)		949,574
Exercisable and expected to vest at the end of the period (in shares)	[1]	1,149,503
Stock options, Weighted Average Option Price
Outstanding at the beginning of the period (in dollars per share)		$ 30.98
Granted (in dollars per share)		65.43
Exercised (in dollars per share)		23.26
Forfeited/Expired (in dollars per share)		22.88
Outstanding at the end of the period (in dollars per share)		34.81	$ 30.98
Exercisable at the end of the period (in dollars per share)		28.29
Exercisable and expected to vest at the end of the period (in dollars per share)	[1]	$ 34.16
Stock options, additional information
Weighted Average Remaining Contractual Term, Outstanding		3 years 8 months 12 days	4 years 1 month 6 days
Weighted Average Remaining Contractual Term, Exercisable		3 years 2 months 12 days
Weighted Average Remaining Contractual Term, Exercisable and expected to vest	[1]	3 years 7 months 6 days
Aggregate Intrinsic Value, Outstanding	[2]	$ 40.8	$ 71.9
Aggregate Intrinsic Value, Exercisable	[2]	38.4
Aggregate Intrinsic Value, Exercisable and expected to vest	[1],[2]	40.6
Intrinsic value of options exercised		$ 10,700,000	$ 35,700,000	$ 6,100,000

[1] The aggregate intrinsic value is calculated as the positive difference between the exercise price of the underlying options and the quoted price of our common stock on December 31, 2022.

[2] Represents the number of vested options at December 31, 2022, plus the number of unvested options at December 31, 2022 that are ultimately expected to vest based on our estimated forfeiture rate.