Stock Plans and Stock-Based Compensation - Schedule of Stock Option Activity (Details)	12 Months Ended
Dec. 31, 2020 $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Stock options outstanding, Beginning Balance \| shares	723,383
Stock options outstanding, Exercised \| shares	(323,838)
Stock options outstanding, Forfeited \| shares	(120,524)
Stock options outstanding, Ending Balance \| shares	279,021
Weighted average exercise price, Beginning Balance \| $ / shares	$ 26.56
Weighted average exercise price, Exercised \| $ / shares	25.20
Weighted average exercise price, Forfeited \| $ / shares	32.57
Weighted average exercise price, Ending Balance \| $ / shares	$ 25.55

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Number of share options (or share units) exercised during the current period.

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