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Shareholders' Equity and Share-Based Compensation - Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Weighted Average Option Price per Share |  |  |
Weighted Average Option Price per Share, Beginning Balance (in usd per share) | $ 38.99 |  |
Weighted Average Option Price per Share, Options Granted (in usd per share) | 40.10 |  |
Weighted Average Option Price per Share, Options Vested (in usd per share) | 41.27 |  |
Weighted Average Option Price per Share, Options Exercised (in usd per share) | 31.35 |  |
Weighted Average Option Price per Share, Options Forfeited (in usd per share) | 41.39 |  |
Weighted Average Option Price per Share, Options Expired (in usd per share) | 42.23 |  |
Weighted Average Option Price per Share, Ending Balance (in usd per share) | $ 39.10 | $ 38.99 |
Outstanding |  |  |
Options Outstanding, Beginning Balance (in shares) | 916,287 | 908,557 |
Options Outstanding, Granted (in shares) | 183,272 | 234,248 | 282,040
Options Outstanding, Vested (in shares) | 0 |  |
Options Outstanding, Exercised (in shares) | (8,015) |  |
Options Outstanding, Forfeited (in shares) | (49,411) |  |
Options Outstanding, Expired (in shares) | (10,005) |  |
Options Outstanding, Ending Balance (in shares) | 1,032,128 | 916,287 | 908,557
Vested and Exercisable |  |  |
Options Vested and Exercisable, Beginning Balance (in shares) | 437,197 |  |
Options Vested and Exercisable, Granted (in shares) | 0 |  |
Options Vested and Exercisable, Vested (in shares) | 163,519 |  |
Options Vested and Exercisable, Exercisable (in shares) | (8,015) |  |
Options Vested and Exercisable, Forfeited (in shares) | 0 |  |
Options Vested and Exercisable, Expired (in shares) | 0 |  |
Options Vested and Exercisable, Ending Balance (in shares) | 592,701 | 437,197 |
Minimum |  |  |
Weighted Average Option Price per Share |  |  |
Weighted Average Option Price per Share, Beginning Balance (in usd per share) | $ 28.88 |  |
Weighted Average Option Price per Share, Options Granted (in usd per share) | 40.1 |  |
Weighted Average Option Price per Share, Options Vested (in usd per share) | 28.88 |  |
Weighted Average Option Price per Share, Options Exercised (in usd per share) | 31.01 |  |
Weighted Average Option Price per Share, Options Forfeited (in usd per share) | 41.1 |  |
Weighted Average Option Price per Share, Options Expired (in usd per share) | 41.83 |  |
Weighted Average Option Price per Share, Ending Balance (in usd per share) | 28.88 | $ 28.88 |
Maximum |  |  |
Weighted Average Option Price per Share |  |  |
Weighted Average Option Price per Share, Beginning Balance (in usd per share) | 42.95 |  |
Weighted Average Option Price per Share, Options Granted (in usd per share) | 40.1 |  |
Weighted Average Option Price per Share, Options Vested (in usd per share) | 42.95 |  |
Weighted Average Option Price per Share, Options Exercised (in usd per share) | 32.35 |  |
Weighted Average Option Price per Share, Options Forfeited (in usd per share) | 42.73 |  |
Weighted Average Option Price per Share, Options Expired (in usd per share) | 42.73 |  |
Weighted Average Option Price per Share, Ending Balance (in usd per share) | $ 42.95 | $ 42.95 |

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