Shareholders' Equity and Share-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Weighted Average Option Price per Share
Weighted Average Option Price per Share, Beginning Balance (in usd per share)	$ 37.82
Weighted Average Option Price per Share, Options Granted (in usd per share)	41.83
Weighted Average Option Price per Share, Options Vested (in usd per share)	38.59
Weighted Average Option Price per Share, Options Exercised (in usd per share)	31.08
Weighted Average Option Price per Share, Options Forfeited (in usd per share)	40.64
Weighted Average Option Price per Share, Options Expired (in usd per share)	39.99
Weighted Average Option Price per Share, Ending Balance (in usd per share)	$ 38.99	$ 37.82
Outstanding
Options Outstanding, Beginning Balance (in shares)	908,557	774,821
Options Outstanding, Granted (in shares)	234,248	282,040	223,208
Options Outstanding, Vested (in shares)	0
Options Outstanding, Exercised (in shares)	(77,291)
Options Outstanding, Forfeited (in shares)	(106,362)
Options Outstanding, Expired (in shares)	(42,865)
Options Outstanding, Ending Balance (in shares)	916,287	908,557	774,821
Vested and Exercisable
Options Vested and Exercisable, Beginning Balance (in shares)	368,700
Options Vested and Exercisable, Granted (in shares)	0
Options Vested and Exercisable, Vested (in shares)	145,788
Options Vested and Exercisable, Exercisable (in shares)	(77,291)
Options Vested and Exercisable, Forfeited (in shares)	0
Options Vested and Exercisable, Expired (in shares)	0
Options Vested and Exercisable, Ending Balance (in shares)	437,197	368,700
Minimum
Range of Option Prices per Share
Range of Option Prices per Share, Beginning Balance (in usd per share)	$ 20.60
Range of Option Prices per Share, Granted (in usd per share)	41.83
Range of Option Prices per Share, Vested (in usd per share)	28.88
Range of Option Prices per Share, Exercised (in usd per share)	20.60
Range of Option Prices per Share, Forfeited (in usd per share)	31.01
Range of Option Prices per Share, Expired (in usd per share)	20.60
Range of Option Prices per Share, Ending Balance (in usd per share)	28.88	$ 20.60
Maximum
Range of Option Prices per Share
Range of Option Prices per Share, Beginning Balance (in usd per share)	44.75
Range of Option Prices per Share, Granted (in usd per share)	41.83
Range of Option Prices per Share, Vested (in usd per share)	42.95
Range of Option Prices per Share, Exercised (in usd per share)	42.95
Range of Option Prices per Share, Forfeited (in usd per share)	42.95
Range of Option Prices per Share, Expired (in usd per share)	42.95
Range of Option Prices per Share, Ending Balance (in usd per share)	$ 42.95	$ 44.75