Shareholders' Equity (Tables)

12 Months Ended

Dec. 31, 2020

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

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

The following table summarizes information about RSUs and restricted shares:

	Number of shares			Weighted average grant date fair value
Outstanding at December 31, 2019		946		$	69.54
RSUs granted		543		$	74.13
RSUs vested		(505	)	$	61.25
RSUs forfeited		(19	)	$	74.70
Outstanding at December 31, 2020		965		$	73.92

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, 2019		6,763		$	44.85
Options granted		—		$	—
Options exercised		(3,189	)	$	45.26
Options forfeited		(4	)	$	47.27
Options canceled		(17	)	$	43.63
Outstanding at December 31, 2020		3,553		$	44.49		3.59	$	179,836
Exercisable at December 31, 2020		3,553		$	44.49		3.59	$	179,836

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,
	2020			2019			2018
Dividend yield		1.40	%		1.40	%		1.30	%
Volatility		32	%		23	%		22	%
Risk-free interest rates		0.15	%		1.96	%		2.39	%
Expected life (years)		1			1			1
Weighted average fair value	$	23.26		$	17.03		$	17.49