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Stock Based Compensation - Narrative (Details) $ / shares in Units, $ in Thousands |  |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | ---
May 01, 2018 | Feb. 02, 2018 | May 31, 2001 | Dec. 31, 2022 USD ($) factor $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Number of options outstanding (in shares) |  |  |  | 435,135 | 440,574 | 475,601 | 518,341
Options exercisable (in shares) |  |  |  | 217,567 | 168,614 | 175,601 |
Options exercisable (in usd per share) | $ / shares |  |  |  | $ 68.97 | $ 67.62 | $ 60.35 |
Total intrinsic values of options exercised in period | $ |  |  |  | $ 400 | $ 5,800 | $ 3,000 |
Total fair value of options vested | $ |  |  |  | 1,100 | 1,000 | 1,000 |
Proceeds from exercise of stock options | $ |  |  |  | 148 | 2,939 | 1,619 |
Tax benefit realized for the tax deductions from option exercises | $ |  |  |  | $ 300 | $ 1,900 | $ 700 |
Estimated forfeiture rates |  |  |  | 13.00% | 12.40% | 13.00% |
Issuance of common stock under employee stock purchase plan | $ |  |  |  | $ 9,431 | $ 9,231 | $ 7,382 |
Share-based Payment Arrangement, Option |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Incremental award ratio | factor |  |  |  | 1.09 |  |  |
Terms of award |  |  |  | 10 years |  |  |
Award vesting periods |  |  |  | 5 years |  |  |
Unrecognized compensation cost related to non-vested awards granted | $ |  |  |  | $ 3,900 |  |  |
Weighted-average period to recognize compensation cost (in years) |  |  |  | 3 years |  |  |
Restricted Stock and Restricted Stock Unit |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Restricted stock and restricted units granted (in shares) |  |  |  | 154,022 | 246,251 | 129,786 |
Restricted Stock and Restricted Stock Unit | Board of Directors |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Award vesting periods |  |  |  | 1 year |  |  |
Restricted Stock and Restricted Stock Unit | Chief Executive Officer |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Award vesting periods |  |  |  | 8 years |  |  |
Market-based Restricted Stock Awards |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Weighted-average period to recognize compensation cost (in years) |  |  |  | 2 years 9 months 18 days |  |  |
Restricted stock and restricted units granted (in shares) |  |  |  | 100,193 | 73,094 | 82,112 |
Weighted-average grant-date fair values of restricted stock awards granted (in usd per share) | $ / shares |  |  |  | $ 87.11 | $ 94.40 | $ 70.99 |
Restricted Stock and Restricted Stock Unit, Market-based Restricted Stock |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Tax benefit realized for the tax deductions from option exercises | $ |  |  |  | $ 2,800 | $ 9,500 | $ 2,100 |
Unrecognized compensation cost related to non-vested awards granted | $ |  |  |  | 40,100 |  |  |
Total fair value of restricted stock and restricted stock units vested | $ |  |  |  | $ 12,400 | $ 68,100 | $ 18,600 |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number |  |  |  | 464,354 | 360,743 | 209,784 | 20,874
Share-based payment arrangement, price target, increase (decrease) | $ / shares |  |  |  | $ 21.41 |  |  |
Weighted-average period to recognize compensation cost (in years) |  |  |  | 3 years 4 months 24 days |  |  |
Restricted stock and restricted units granted (in shares) |  |  |  | 254,215 | 319,345 | 210,630 |
Minimum | Restricted Stock and Restricted Stock Unit | Senior Staff |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Award vesting periods |  |  |  | 4 years |  |  |
Maximum | Restricted Stock and Restricted Stock Unit | Senior Staff |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Award vesting periods |  |  |  | 5 years |  |  |
2015 Stock Option Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Maximum issuance of common stock (in shares) |  |  |  | 4,200,000 |  |  |
Number of shares available for issuance (in shares) |  |  |  | 1,496,619 |  |  |
2015 Stock Option Plan | Restricted Stock Units (RSUs) |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number |  |  |  | 464,354 |  |  |
2015 Stock Option Plan | Minimum |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Market value of common stock on the date of grant for incentive stock options |  |  |  | 100.00% |  |  |
Employee Stock Purchase Plan | Common stock |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Maximum issuance of common stock (in shares) |  |  |  | 2,000,000 |  |  |
Market value of common stock on the date of grant for incentive stock options | 85.00% | 95.00% |  | 85.00% |  |  |
Number of shares available for issuance (in shares) |  |  |  | 1,155,699 |  |  |
Estimated forfeiture rates |  |  |  | 11.83% | 11.15% | 11.15% |
Maximum earnings withheld by the employees |  |  |  | 15.00% |  |  |
Offering period for incentive stock options | 6 months |  | 3 months |  |  |  |
Issuance of shares under Employee Stock Purchase Plan (in shares) |  |  |  | 139,992 | 109,248 | 118,629 |
Employee Stock Purchase Plan | Minimum | Employee Stock |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Purchase price under the Purchase Plan (in usd per share) | $ / shares |  |  |  | $ 66.33 |  |  |
Employee Stock Purchase Plan | Maximum | Employee Stock |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Purchase price under the Purchase Plan (in usd per share) | $ / shares |  |  |  | $ 68.22 |  |  |

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