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Employee Stock Plans - Stock Option Activity Table (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Payment Arrangement [Abstract] |  |  |
Shares outstanding | 1,520,917 | 1,631,017 |
Shares outstanding, weighted-average exercise price | $ 73.68 | $ 69.83 |
Shares granted | 319,438 |  |
Shares granted, weighted-average exercise price | $ 79.22 |  |
Shares exercised | (353,206) |  |
Shares exercised, weighted-average exercise price | $ 59.56 |  |
Shares forfeited | (76,332) |  |
Shares forfeited, weighted-average exercise price | $ 79.87 |  |
Shares exercisable | 768,112 |  |
Shares exercisable, weighted-average exercise price | $ 67.72 |  |
Shares outstanding, weighted-average remaining contractual life | 81 months |  |
Shares exercisable, weighted-average remaining contractual life | 65 months |  |
Shares outstanding, aggregate intrinsic value | $ 35,917 |  |
Shares exercisable, aggregate intrinsic value | 22,724 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Total Intrinsic Value | 8,211 | $ 9,346 | $ 5,368
Proceeds from exercise of stock options | $ 21,037 | $ 16,911 | $ 8,819

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- Definition Amount of cash inflow from exercise of option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2A -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=116856206&loc=SL79508275-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 14 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=118932676&loc=d3e3255-108585 + Details
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