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Employee Benefits and Share-Based Compensation - Employee Stock Purchase Plan (ESPP) Activity (Details) - 1997 Employee stock purchase plan - Employee stock purchase plan (ESPP) - USD ($) $ / shares in Units, $ in Millions | 9 Months Ended
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Sep. 30, 2019 | Sep. 30, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Purchases under ESPP (in shares) | 374,000 | 452,038
Exercised (in dollars per share) | $ 41.44 | $ 29.69
Compensation cost | $ 2.6 |
Weighted average period of compensation cost not yet recognized (in years) | 1 year 6 months |

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