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Stockholders' Equity, Stock Award and Incentive Plan (Details) - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Shares Available for Grant [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 1,532,246 | 529,042 | 866,023
Authorized (in shares) |  | 1,300,000 |
Granted (in shares) | (358,078) | (394,290) | (388,162)
Exercised/vested (in shares) | 0 | 0 | 0
Canceled (in shares) | 94,602 | 97,494 | 51,181
Balance, end of year (in shares) | 1,268,770 | 1,532,246 | 529,042
Stock Options [Member] |  |  |
Stock Award and Incentive Plan [Abstract] |  |  |
Term of stock options granted under Plan | 10 years |  |
Vesting period | 3 years |  |
Stock Options [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 1,363,366 | 1,227,620 | 1,054,259
Granted (in shares) | 255,769 | 286,078 | 271,261
Exercised/vested (in shares) | (251,195) | (93,099) | (79,686)
Canceled (in shares) | (37,938) | (57,233) | (18,214)
Balance, end of year (in shares) | 1,330,002 | 1,363,366 | 1,227,620
Weighted Average Exercise Price Per Share [Abstract] |  |  |
Balance, beginning of year (in dollars per share) | $ 57.29 | $ 55.83 | $ 54.04
Granted (in dollars per share) | 66.00 | 57.67 | 54.44
Exercised/vested (in dollars per share) | 51.12 | 35.11 | 27.26
Canceled (in dollars per share) | 64.92 | 63.92 | 66.93
Balance, end of year (in dollars per share) | $ 59.91 | $ 57.29 | $ 55.83
Restricted Stock [Member] |  |  |
Restricted Stock [Roll Forward] |  |  |
Balance, beginning of year (in shares) | 201,985 | 177,736 | 134,578
Granted (in shares) | 102,309 | 108,212 | 116,901
Exercised/vested (in shares) | (51,497) | (43,702) | (40,776)
Canceled (in shares) | (56,664) | (40,261) | (32,967)
Balance, end of year (in shares) | 196,133 | 201,985 | 177,736
Weighted Average Exercise Price Per Share [Abstract] |  |  |
Balance, beginning of year (in dollars per share) | $ 58.07 | $ 62.40 | $ 68.64
Granted (in dollars per share) | 66.20 | 56.93 | 54.51
Exercised/vested (in dollars per share) | 60.40 | 66.07 | 60.79
Canceled (in dollars per share) | 60.98 | 65.42 | 61.87
Balance, end of year (in dollars per share) | $ 60.87 | $ 58.07 | $ 62.40

X
- Definition The number of additional shares authorized during the period which increased the number of shares available for grant under the plan at the end of the reporting period. + References No definition available. + Details
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- Definition The number of shares cancelled during the period which increased the shares available for grant under the plan at the end of the reporting period. + References No definition available. + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + 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 (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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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=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + 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)(3) -URI http://asc.fasb.org/extlink&oid=120381028&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=120381028&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=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the 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 2 -Subparagraph (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + 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)-(4) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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