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Stock-Based Compensation - Restricted Stock Activity and Incentive Stock Awards Activity (Details)
9 Months Ended
Sep. 30, 2021
$ / shares
shares
Weighted Average Grant Date Fair Value  
Outstanding, beginning of period (in dollars per share) | $ / shares $ 73.80
Granted (in dollars per share) | $ / shares 81.38
Vested (in dollars per share) | $ / shares 71.52
Adjustment for incentive stock awards expected to vest (in dollars per share) | $ / shares 74.32
Canceled (in dollars per share) | $ / shares 76.10
Outstanding, end of period (in dollars per share) | $ / shares $ 77.63
Restricted Stock and Units  
Number of Shares  
Outstanding, beginning of period (in shares) 656,006
Granted (in shares) 226,896
Vested (in shares) (303,439)
Adjustment for incentive stock awards expected to vest (in shares) 0
Canceled (in shares) (28,732)
Outstanding, end of period (in shares) 550,731
Incentive Stock Units  
Number of Shares  
Outstanding, beginning of period (in shares) 270,645
Granted (in shares) 241,467
Vested (in shares) (37,672)
Adjustment for incentive stock awards expected to vest (in shares) 120,546
Canceled (in shares) (41,494)
Outstanding, end of period (in shares) 553,492