Shareholders' Equity and Share-Based Compensation - Stock Option Information by Ranges of Exercise Prices (Details) - $ / shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Options (in shares)	916,287	908,557	774,821
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 38.99	$ 37.82
Total Outstanding Options, Weighted Average Remaining Term	7 years 1 month 24 days
Vested and Exercisable Options (in shares)	437,197	368,700
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share)	$ 36.59	$ 34.81	$ 31.42
Vested and Exercisable Options, Weighted Average Remaining Term	5 years 10 months 9 days
Range One
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Options (in shares)	203,207
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 30.84
Total Outstanding Options, Weighted Average Remaining Term	4 years 7 months 9 days
Vested and Exercisable Options (in shares)	203,207
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share)	$ 30.84
Vested and Exercisable Options, Weighted Average Remaining Term	4 years 7 months 9 days
Range One | Minimum
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 28.88
Range One | Maximum
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 33.41
Range Two
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Options (in shares)	546,108
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 40.81
Total Outstanding Options, Weighted Average Remaining Term	8 years 18 days
Vested and Exercisable Options (in shares)	154,902
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share)	$ 40.90
Vested and Exercisable Options, Weighted Average Remaining Term	6 years 9 months 21 days
Range Two | Minimum
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 36.04
Range Two | Maximum
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 41.95
Range Three
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Options (in shares)	166,972
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 42.93
Total Outstanding Options, Weighted Average Remaining Term	7 years 3 months 29 days
Vested and Exercisable Options (in shares)	79,088
Vested and Exercisable Options, Weighted Average Option Price per Share (in usd per share)	$ 42.94
Vested and Exercisable Options, Weighted Average Remaining Term	7 years 3 months 3 days
Range Three | Minimum
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 42.73
Range Three | Maximum
Summary of options outstanding segregated by ranges of exercise prices
Total Outstanding Options, Weighted Average Option Price per Share (in usd per share)	$ 42.95