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Shareholders' Equity (Tables) | 12 Months Ended
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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 |

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of employee stock purchase plans, including, but not limited to: (a) expected term, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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