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Share-Based Compensation - Weighted average assumptions used in valuing options (Details) - USD ($) | 12 Months Ended | 90 Months Ended
--- | --- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Jun. 30, 2009
Employee Stock Purchase Plan |  |  |  |
Additional disclosures |  |  |  |
Compensation expense | $ 75,000 | $ 82,000 | $ 43,000 |
Employee Stock Purchase Plan |  |  |  |
Number of shares of common stock registered in connection with the establishment of an Employee Stock Purchase Plan | 363,825 |  |  |
Requisite age of employees to be eligible to participate in the plan | 21 years |  |  |
Requisite service period to be eligible to participate in the plan | 6 months |  |  |
Discount rate for eligible employees to purchase company stock (as a percent) | 5.00% |  |  | 15.00%
Minimum | Employee Stock Purchase Plan |  |  |  |
Employee Stock Purchase Plan |  |  |  |
Shares available for issuance under the plan | 50,000 |  |  |
Maximum | Employee Stock Purchase Plan |  |  |  |
Employee Stock Purchase Plan |  |  |  |
Estimated subscription date fair value (as a percent) | 95.00% |  |  |
Stock Options |  |  |  |
Weighted-average assumptions |  |  |  |
Dividend yield (as a percent) |  | 1.46% | 1.40% |
Expected life |  | 8 years 6 months | 8 years 6 months |
Expected volatility (as a percent) |  | 28.00% | 37.20% |
Risk-free interest rate (as a percent) |  | 2.54% | 2.43% |
Additional disclosures |  |  |  |
Total unrecognized compensation cost related to non vested stock option grants | $ 720,000 |  |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized | 9 months 3 days |  |  |
Total fair value of shares vested during the period | $ 799,000 | $ 700,000 | $ 578,000 |
Compensation expense | $ 641,000 | 751,000 | 784,000 |
Restricted Stock |  |  |  |
Additional disclosures |  |  |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized | 1 year 3 months |  |  |
Compensation expense | $ 1,700,000 | $ 2,500,000 | $ 2,500,000 |
Restricted Stock Activity and RSUs |  |  |  |
Nonvested at the beginning of the period (in shares) | 104,419 |  |  |
Granted (in shares) | 8,934 | 7,836 | 26,053 |
Vested (in shares) | (40,858) |  |  |
Forfeited (in shares) | (3,045) |  |  |
Nonvested at the end of the period (in shares) | 69,450 | 104,419 |  |
Weighted-Average Grant-Date Fair Value |  |  |  |
Nonvested at the beginning of the period (in dollars per share) | $ 62.45 |  |  |
Granted (in dollars per share) | 73.34 | $ 87.37 | $ 89.11 |
Vested (in dollars per share) | 70.06 |  |  |
Forfeited (in dollars per share) | 72.01 |  |  |
Nonvested at the end of the period (in dollars per share) | $ 58.96 | $ 62.45 |  |
Additional disclosures |  |  |  |
Total unrecognized compensation cost related to nonvested restricted stock and RSUs granted | $ 1,100,000 |  |  |
Total fair value of shares vested during the period | 3,000,000.0 | $ 2,500,000 | $ 3,100,000 |
Employee Stock Purchase Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value | $ 3,000,000.0 | 2,500,000 | 3,100,000 |
Restricted Stock | Employees | Minimum |  |  |  |
Additional disclosures |  |  |  |
Vesting period | 4 years |  |  |
Restricted Stock | Non-employee directors | Maximum |  |  |  |
Additional disclosures |  |  |  |
Vesting period | 12 months |  |  |
Restricted Stock Units |  |  |  |
Additional disclosures |  |  |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized | 1 year 9 months 3 days |  |  |
Compensation expense | $ 6,400,000 | $ 5,500,000 | $ 3,600,000 |
Restricted Stock Activity and RSUs |  |  |  |
Nonvested at the beginning of the period (in shares) | 200,540 |  |  |
Granted (in shares) | 159,521 | 113,270 | 77,301 |
Vested (in shares) | (31,723) |  |  |
Forfeited (in shares) | (3,737) |  |  |
Nonvested at the end of the period (in shares) | 324,601 | 200,540 |  |
Weighted-Average Grant-Date Fair Value |  |  |  |
Nonvested at the beginning of the period (in dollars per share) | $ 85.10 |  |  |
Granted (in dollars per share) | 68.27 |  |  |
Vested (in dollars per share) | 89.40 |  |  |
Forfeited (in dollars per share) | 82.18 |  |  |
Nonvested at the end of the period (in dollars per share) | $ 76.44 | $ 85.10 |  |
Additional disclosures |  |  |  |
Total unrecognized compensation cost related to nonvested restricted stock and RSUs granted | $ 10,500,000 |  |  |
Total fair value of shares vested during the period | $ 5,800,000 | $ 5,700,000 | $ 5,000,000.0 |
Target RSU award level (as a percent) | 84.30% |  |  |
Employee Stock Purchase Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value | $ 5,800,000 | $ 5,700,000 | $ 5,000,000.0 |
Performance based restricted stock units |  |  |  |
Additional disclosures |  |  |  |
Performance period | 3 years |  |  |
Other Performance based restricted stock units |  |  |  |
Additional disclosures |  |  |  |
Performance period | 1 year |  |  |
Timed based restricted stock units |  |  |  |
Additional disclosures |  |  |  |
Performance period | 4 years |  |  |

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + 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)(iv)(3) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + 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)(2)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + 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)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + 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)(i) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.D.2) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 + Details
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