Shareholders' Equity (Tables)

12 Months Ended

Dec. 31, 2022

Share-Based Payment Arrangement [Abstract]

Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Award Activity

The following table summarizes information about RSUs and restricted shares:

	Number of shares			Weighted average grant date fair value
Nonvested at December 31, 2021		794		$	89.74
RSUs granted		372		$	102.65
RSUs vested		(439	)	$	85.37
RSUs forfeited		(20	)	$	93.24
Nonvested at December 31, 2022		707		$	99.09

Schedule of Stock Option Activity

The following table summarizes information about stock options:

	Number of shares			Weighted average exercise price per share		Weighted average remaining contractual life		Aggregate intrinsic value
Outstanding at December 31, 2021		2,329		$	44.07
Options granted		—		$	—
Options exercised		(539	)	$	41.48
Options canceled		(6	)	$	41.53
Outstanding at December 31, 2022		1,784		$	44.86		2.29	$	105,400
Exercisable at December 31, 2022		1,784		$	44.86		2.29	$	105,400

Shared-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Method Used

The fair value of employee stock purchase rights granted under the 2002 Plan is estimated on the date of grant using the Black-Scholes Model with the following assumptions:

	For the years ended December 31,
	2022			2021			2020
Dividend yield		1.30	%		1.10	%		1.40	%
Volatility		29	%		20	%		32	%
Risk-free interest rates		3.02	%		0.08	%		0.15	%
Expected life (years)		1			1			1
Weighted average fair value	$	27.07		$	28.55		$	23.26