Shareholders' Equity - Stock Option Activity (Details) - Employee Stock Option - USD ($)		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock options, Shares Subject to Options
Outstanding at the beginning of the period (in shares)		1,173,625
Granted (in shares)		77,719
Exercised (in shares)		(285,030)
Forfeited /Expired (in shares)		1,246
Outstanding at the end of the period (in shares)		967,560	1,173,625
Exercisable at the end of the period (in shares)		763,544
Exercisable and expected to vest at the end of the period (in shares)	[1]	965,990
Stock options, Weighted Average Option Price
Outstanding at the beginning of the period (in dollars per share)		$ 34.81
Granted (in dollars per share)		69.37
Exercised (in dollars per share)		34.05
Forfeited/Expired (in dollars per share)		0
Outstanding at the end of the period (in dollars per share)		37.78	$ 34.81
Exercisable at the end of the period (in dollars per share)		29.78
Exercisable and expected to vest at the end of the period (in dollars per share)	[1]	$ 37.77
Stock options, additional information
Weighted Average Remaining Contractual Term, Outstanding		3 years 8 months 12 days	3 years 8 months 12 days
Weighted Average Remaining Contractual Term, Exercisable		3 years
Weighted Average Remaining Contractual Term, Exercisable and expected to vest	[1]	3 years 8 months 12 days
Aggregate Intrinsic Value, Outstanding	[2]	$ 35.5	$ 40.8
Aggregate Intrinsic Value, Exercisable	[2]	33.8
Aggregate Intrinsic Value, Exercisable and expected to vest	[1],[2]	35.4
Intrinsic value of options exercised		$ 9,400,000	$ 10,700,000	$ 35,700,000

[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, 2023.

[2] Represents the number of vested options at December 31, 2023, plus the number of unvested options at December 31, 2023, that are ultimately expected to vest based on our estimated forfeiture rate.