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Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2019
Disclosure of Compensation Related Costs, Share-based Payments [Abstract] |
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] | Summary stock options activity is presented in the table below:
|  | Number of Shares |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Term (years) |  | Aggregate Intrinsic Value (thousands)
Balance at December 31, 2018 (1,637,801 shares exercisable) |  | 2,562,570 |  |  | $ | 57.10 |  |  |  |  |
Granted |  | 795,274 |  |  | $ | 145.92 |  |  |  |  |
Exercised |  | (295,420 | ) |  | $ | 44.22 |  |  |  |  |
Forfeited/Canceled |  | (46,287 | ) |  | $ | 89.67 |  |  |  |  |
Expired |  | (362 | ) |  |  |  |  |  |
Balance at December 31, 2019 |  | 3,015,775 |  |  | $ | 81.29 |  |  | 6.2 |  | $ | 230,052 |
Exercisable at December 31, 2019 |  | 1,653,340 |  |  | $ | 46.36 |  |  | 4.1 |  | $ | 183,846 |
Vested and expected to vest at December 31, 2019 |  | 2,383,821 |  |  | $ | 66.65 |  |  | 5.4 |  | $ | 216,739 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] | The following table provides the fair value of options granted under the SCP during 2019, 2018 and 2017, together with a description of the assumptions used to calculate the fair value using the Black-Scholes-Merton option-pricing model:
|  | Year ended December 31,
|  | 2019 |  | 2018 |  | 2017
Volatility |  | 29.3 | % |  | 29.8 | % |  | 28.8 | %
Risk-free interest rate - weighted average |  | 2.1 | % |  | 2.8 | % |  | 2.2 | %
Risk-free interest rate - range |  | (a) |  |  | (a) |  |  | .022 |
Dividend yield |  | — | % |  | — | % |  | — | %
Assumed forfeitures |  | 8.0 | % |  | 8.0 | % |  | 8.0 | %
Expected lives |  | 5.2 years |  |  | 5.6 years |  |  | 5.5 years |
Weighted-average fair value (per share) |  | $ | 43.96 |  |  | $ | 37.16 |  |  | $ | 28.59 |
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] | Summary restricted stock activity is presented in the table below:
|  | Number of Shares |  | Weighted Average Grant Date Fair Value Per Share
Nonvested at December 31, 2018 |  | 371,841 |  |  | $ | 85.78 |
Granted |  | 254,631 |  |  | $ | 145.93 |
Vested |  | (115,740 | ) |  | $ | 78.77 |
Forfeited |  | (16,784 | ) |  | $ | 92.44 |
Nonvested at December 31, 2019 |  | 493,948 |  |  | $ | 118.20 |
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block] | The following table provides the weighted-average fair value of the ESPP stock purchase rights during the years ended December 31, 2019, 2018 and 2017 and the assumptions used to calculate the fair value using the Black-Scholes-Merton option-pricing model:
|  | Year Ended December 31,
|  | 2019 |  | 2018 |  | 2017
Volatility - weighted average |  | 24.3 | % |  | 30.1 | % |  | 18.4 | %
Volatility - range |  | 20.3% to 28.1% |  |  | 23.5% to 36.7% |  |  | 14.6% to 27.2% |
Risk-free interest rate - weighted average |  | 2.07 | % |  | 2.01 | % |  | 0.89 | %
Risk-free interest rate - range |  | 1.55% to 2.44% |  |  | 1.73% to 2.45% |  |  | 0.51% to 1.39% |
Dividend yield |  | — | % |  | — | % |  | — | %
Expected lives |  | 3 months |  |  | 3 months |  |  | 3 months |
Weighted-average fair value (per share) |  | $ | 25.87 |  |  | $ | 17.22 |  |  | $ | 15.81 |

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- Definition Tabular disclosure of components of a stock option or other award plan under which equity-based compensation is awarded to employees, typically comprised of the amount of unearned compensation (deferred compensation cost), compensation expense, and changes in the quantity and fair value of the shares (or other type of equity) granted, exercised, forfeited, and issued and outstanding pertaining to that plan. Disclosure may also include nature and general terms of such arrangements that existed during the period and potential effects of those arrangements on shareholders, effect of compensation cost arising from equity-based payment arrangements on the income statement, method of estimating the fair value of the goods or services received, or the fair value of the equity instruments granted, during the period, cash flow effects resulting from equity-based payment arrangements and, for registrants that accelerate vesting of out of the money share options, reasons for the decision to accelerate. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5047-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the changes in outstanding nonvested restricted stock units. + 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) -URI http://asc.fasb.org/extlink&oid=109197908&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=109197908&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 stock options, including, but not limited to: (a) expected term of share options and similar instruments, (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=109197908&loc=d3e5070-113901 + Details
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