Shareholders' Equity (Tables)

12 Months Ended

Dec. 31, 2019

Share Based Compensation Arrangement By Share Based Payment Award [Line Items]

Schedule of Cumulative Repurchasing Activity by Plan

The following table summarizes by plan the Company’s repurchasing activity:

	Cumulative shares repurchased		Average price per share
Non-Discretionary Plan (1994 through 2019)		40,000	$	35.29
Discretionary Plan (2001 through 2019)		73,991	$	46.67

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

The following table summarizes information about RSUs:

	Number of shares			Weighted average grant date fair value
Outstanding at December 31, 2018		834		$	62.51
RSUs granted		475		$	75.73
RSUs vested		(337	)	$	60.92
RSUs forfeited		(26	)	$	66.03
Outstanding at December 31, 2019		946		$	69.54

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, 2018		9,353		$	44.60
Options granted		—		$	—
Options exercised		(2,518	)	$	43.85
Options forfeited		(62	)	$	46.89
Options canceled		(10	)	$	45.98
Outstanding at December 31, 2019		6,763		$	44.85		4.33	$	224,309
Exercisable at December 31, 2019		6,159		$	44.62		4.22	$	205,731

Employee Stock Purchase 2002 Plan

Share Based Compensation Arrangement By Share Based Payment Award [Line Items]

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,
	2019			2018			2017
Dividend yield		1.40	%		1.30	%		1.50	%
Volatility		23	%		22	%		14	%
Risk-free interest rates		1.96	%		2.39	%		1.22	%
Expected life (years)		1			1			1
Weighted average fair value	$	17.03		$	17.49		$	11.69