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Shareholders' Equity and Share-Based Compensation - Narrative (Details) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2015 shares | Dec. 31, 2013 | Dec. 31, 2019 $ / shares | Sep. 30, 2015 USD ($) $ / shares
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |
Common stock, par value (in usd per share) | $ / shares | $ 0.001 | $ 0.001 |  |  | $ 0.001 |
Shares reacquired during period (in shares) | shares | 140,758 | 52,095 |  |  |  |
Percentage of outstanding shares reacquired | 0.30% | 0.10% |  |  |  |
Shares reacquired during period, value | $ | $ 5,300,000 | $ 2,200,000 |  |  |  |
Share price of treasury stock acquired during period (in usd per share) | $ / shares | $ 37.49 | $ 41.17 |  |  |  |
Accumulated shares repurchased (shares) | shares | 1,040,226 |  |  |  |  |
Accumulated average cost of share repurchase (in usd per share) | $ / shares | $ 33.33 |  |  |  |  |
Remaining authorized repurchase amount | $ | $ 15,300,000 |  |  |  |  |
Treasury stock (in shares) | shares | 25,043,337 | 24,902,579 |  |  |  |
Preferred stock, shares authorized (in shares) | shares | 1,000,000 | 1,000,000 |  |  |  |
Preferred stock, par value (in usd per share) | $ / shares | $ 0.001 | $ 0.001 |  |  |  |
Preferred stock, shares issued (in shares) | shares | 0 | 0 |  |  |  |
Preferred stock shares outstanding | shares | 0 | 0 |  |  |  |
Fungible share pool, grant of full value share conversion ratio |  |  |  | 2.5 |  |
Intrinsic value | $ / shares | $ 0 |  |  |  |  |
Weighted average exercise prices of vested and exercisable options (in usd per share) | $ / shares | 37.94 | $ 36.59 |  |  | $ 34.81 |
Share price (in usd per share) | $ / shares | $ 38.70 |  |  |  |  |
Aggregate intrinsic value of vested options | $ | $ 1,500,000 |  |  |  |  |
Aggregate intrinsic value of options | $ | $ 1,500,000 |  |  |  |  |
Minimum | Employee stock option |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |
Vesting period | 4 years |  |  |  |  |
Expiration period | 7 years |  |  |  |  |
Minimum | Restricted stock units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |
Vesting period | 1 year |  |  |  |  |
Maximum | Employee stock option |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |
Expiration period | 10 years |  |  |  |  |
Maximum | Restricted stock units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |
Vesting period | 4 years |  |  |  |  |
2015 Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |
Authorized repurchase amount | $ |  |  |  |  |  | $ 50,000,000
Common stock, par value (in usd per share) | $ / shares |  |  |  |  |  | $ 0.001
Comprehensive Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |
Amended increase in shares reserved for issuance (in shares) | shares |  |  | 2,500,000 |  |  |
Shares available for grant (in shares) | shares | 2,688,416 |  |  |  |  |

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