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Shareholders' Equity - Summary of Share Count and Par Value Data Related to Shareholders' Equity (Details) - $ / shares
Mar. 31, 2017
Dec. 31, 2016
Mar. 31, 2016
Dec. 31, 2015
Preferred Stock        
Preferred stock, par value per share    
Preferred stock, shares authorized 25,000,000 25,000,000    
Preferred stock, shares outstanding 0 0    
Common Stock        
Common stock, par value per share    
Common stock, shares authorized 75,000,000 75,000,000    
Common stock, shares issued 56,544,741 56,456,516    
Common stock, shares outstanding 32,850,719 32,762,494 32,758,643 32,548,477
Treasury stock        
Treasury stock, shares held 23,694,022 23,694,022