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Stock Plans - Summary of Stock Option Activity (Details)
 9 Months Ended
Sep. 30, 2016
$ / shares
shares
Shares  
Outstanding, beginning balance (in shares) | shares 1,694,675
Granted (in shares) | shares 235,233
Exercised (in shares) | shares (156,979)
Forfeited (in shares) | shares (6,173)
Outstanding, ending balance (in shares) | shares 1,766,756
Exercisable (in shares) | shares 1,282,699
Weighted Average Exercise Price (dollars per share)  
Outstanding, beginning balance (dollars per share) | $ / shares $ 36.69
Granted (dollars per share) | $ / shares 44.50
Exercised (dollars per share) | $ / shares 38.89
Forfeited (in dollars per share) | $ / shares 46.95
Outstanding, ending balance (dollars per share) | $ / shares 37.49
Exercisable (dollars per share) | $ / shares $ 33.75