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Stock-based Compensation Expense Fixed-Price Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Shares      
Outstanding Shares,Beginning Balance (in shares) 1,244,531    
Granted (in shares) 76,221 95,639 63,259
Exercised (in shares) (682,068)    
Forfeited (in shares) (37,843)    
Expired (in shares) (1,000)    
Outstanding Shares, Ending Balance (in shares) 599,841 1,244,531  
Exercisable, Ending Balance (in shares) 416,289    
Weighted-Average Exercise Price      
Outstanding Weighted-Average Exercise Price, Beginning Balance (in dollars per share) $ 65.67    
Granted (in dollars per share) 81.85    
Exercised (in dollars per share) 59.28    
Forfeited (in dollars per share) 94.03    
Share-based Compensation Arrangements by Share-based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price 41.94    
Outstanding Weighted-Average Exercise (in dollars per share) Price, Ending Balance 73.24 $ 65.67  
Exercisable Weighted-Average Exercise Price, Ending Balance (in dollars per share) $ 64.06    
Weighted-Average Remaining Contractual Term (Years)      
Weighted-Averaged Remaining Contractual Term, Beginning Balance 5 years 7 months 6 days 4 years 2 months 12 days  
Weighted-Averaged Remaining Contractual Term, Ending Balance 5 years 7 months 6 days 4 years 2 months 12 days  
Exercisable Weighted-Average Remaining Contractual Term, Ending Balance 4 years 4 months 24 days    
Aggregate Intrinsic Value      
Outstanding Aggregate Intrinsic Value, Beginning Balance $ 14,593    
Outstanding Aggregate Intrinsic Value, Ending Balance 44,554 $ 14,593  
Exercisable Aggregate Intrinsic Value, Ending Balance $ 34,742