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Shareholders' Equity and Common Stock Equivalents - Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Weighted Average Option Price per Share |  |  |
Weighted Average Option Price per Share, Beginning Balance (in usd per share) | $ 36.65 |  |
Weighted Average Option Price per Share, Options Granted (in usd per share) | 39.22 |  |
Weighted Average Option Price per Share, Options Vested (in usd per share) | 34.46 |  |
Weighted Average Option Price per Share, Options Exercised (in usd per share) | 26.98 |  |
Weighted Average Option Price per Share, Options Forfeited (in usd per share) | 39.97 |  |
Weighted Average Option Price per Share, Options Expired (in usd per share) | 0 |  |
Weighted Average Option Price per Share, Ending Balance (in usd per share) | $ 37.82 | $ 36.65 |
Outstanding |  |  |
Options Outstanding, Beginning Balance (in shares) | 774,821 | 719,015 |
Options Outstanding, Granted (in shares) | 282,040 | 223,208 | 222,828
Options Outstanding, Vested (in shares) | 0 |  |
Options Outstanding, Exercised (in shares) | (64,095) |  |
Options Outstanding, Forfeited (in shares) | (84,209) |  |
Options Outstanding, Expired (in shares) | 0 |  |
Options Outstanding, Ending Balance (in shares) | 908,557 | 774,821 | 719,015
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Exercisable [Roll Forward] |  |  |
Options Vested and Exercisable, Beginning Balance (in shares) | 271,116 |  |
Options Vested and Exercisable, Granted (in shares) | 0 |  |
Options Vested and Exercisable, Vested (in shares) | 161,679 |  |
Options Vested and Exercisable, Exercisable (in shares) | (64,095) |  |
Options Vested and Exercisable, Forfeited (in shares) | 0 |  |
Options Vested and Exercisable, Expired (in shares) | 0 |  |
Options Vested and Exercisable, Ending Balance (in shares) | 368,700 | 271,116 |
Minimum |  |  |
Weighted Average Option Price per Share |  |  |
Weighted Average Option Price per Share, Ending Balance (in usd per share) | $ 42.95 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Range of Option Prices [Roll Forward] |  |  |
Range of Option Prices per Share, Beginning Balance (in usd per share) | 17.32 |  |
Range of Option Prices per Share, Granted (in usd per share) | 38.99 |  |
Range of Option Prices per Share, Vested (in usd per share) | 20.60 |  |
Range of Option Prices per Share, Exercised (in usd per share) | 17.32 |  |
Range of Option Prices per Share, Forfeited (in usd per share) | 31.01 |  |
Range of Option Prices per Share, Expired (in usd per share) | 0 |  |
Range of Option Prices per Share, Ending Balance (in usd per share) | 20.60 | $ 17.32 |
Maximum |  |  |
Weighted Average Option Price per Share |  |  |
Weighted Average Option Price per Share, Ending Balance (in usd per share) | 44.75 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Range of Option Prices [Roll Forward] |  |  |
Range of Option Prices per Share, Beginning Balance (in usd per share) | 44.75 |  |
Range of Option Prices per Share, Granted (in usd per share) | 42.73 |  |
Range of Option Prices per Share, Vested (in usd per share) | 44.75 |  |
Range of Option Prices per Share, Exercised (in usd per share) | 42.95 |  |
Range of Option Prices per Share, Forfeited (in usd per share) | 44.75 |  |
Range of Option Prices per Share, Expired (in usd per share) | 0 |  |
Range of Option Prices per Share, Ending Balance (in usd per share) | $ 44.75 | $ 44.75 |

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