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Shareholders' Equity, Stock Options and Net Income per Share - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation | $ 8,334 | $ 7,486 | $ 6,681
Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at beginning of year (shares) | 786 | 1,363 | 1,732
Granted (shares) | 137 | 96 | 106
Exercise of stock options (in shares) | (346) | (659) | (450)
Forfeited (shares) | (13) | (14) | (25)
Outstanding at end of year (shares) | 564 | 786 | 1,363
Exercisable at end of year | 331 | 586 | 1,160
Weighted Average Outstanding at beginning of year (per share) | $ 32 | $ 28 | $ 27
Weighted average exercise price for options granted in the period | 44 | 50 | 43
Weighted average exercise price for options exercised in the period | 24 | 26 | 28
Weighted average exercise price for options forfeited in the period | 35 | 29 | 37
Weighted Average Outstanding at end of year (per share) | 41 | 32 | 28
Weighted average exercise price for options exercisable at year end | 37 | 28 | 26
Weighted-average fair value of options granted during the year (dollars per share) | $ 12 | $ 15 | $ 14
Aggregate intrinsic value of options exercised | $ 7,803 | $ 16,191 | $ 7,259
Average aggregate intrinsic value for options outstanding | 2,305 |  |
Average aggregate instrinsic value for exercisable options | 2,516 |  |
Share-based compensation | 1,473 | 1,386 | 1,302
Tax benefit related to share-based compensation expense | 546 | $ 542 | $ 497
Unrecognized compensation cost | $ 1,784 |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition | 1 year 9 months 11 days |  |
Non-employee Director Stock Options [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at beginning of year (shares) | 0 | 8 | 26
Exercise of stock options (in shares) |  | (8) | (18)
Outstanding at end of year (shares) |  | 0 | 8
Weighted Average Outstanding at beginning of year (per share) | $ 0 | $ 26 | $ 23
Weighted average exercise price for options exercised in the period |  | 26 | 22
Weighted Average Outstanding at end of year (per share) |  | $ 0 | $ 26
Aggregate intrinsic value of options exercised |  | $ 208 | $ 412
Term of options issued under the plan | 10 years |  |
Exercise Price Range 22.47 thru 22.47 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 14 |  |
Exercisable at end of year | 14 |  |
Weighted Average Outstanding at end of year (per share) | $ 22.47 |  |
Weighted average exercise price for options exercisable at year end | 22.47 |  |
Range of exercise price, lower range limit | 22.47 |  |
Range of exercise price, upper range limit | $ 22.47 |  |
Weighted average remaining contractual life | 1 month 12 days |  |
Exercise Price Range 28.61 thru 28.61 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 76 |  |
Exercisable at end of year | 76 |  |
Weighted Average Outstanding at end of year (per share) | $ 28.61 |  |
Weighted average exercise price for options exercisable at year end | 28.61 |  |
Range of exercise price, lower range limit | 28.61 |  |
Range of exercise price, upper range limit | $ 28.61 |  |
Weighted average remaining contractual life | 1 year 1 month 11 days |  |
Exercise Price Range 36.55 thru 37.14 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 138 |  |
Exercisable at end of year | 138 |  |
Weighted Average Outstanding at end of year (per share) | $ 36.87 |  |
Weighted average exercise price for options exercisable at year end | 36.87 |  |
Range of exercise price, lower range limit | 36.55 |  |
Range of exercise price, upper range limit | $ 37.14 |  |
Weighted average remaining contractual life | 2 years 7 months 11 days |  |
Exercise Price Range 41.32 thru 43.67 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 210 |  |
Exercisable at end of year | 56 |  |
Weighted Average Outstanding at end of year (per share) | $ 43.15 |  |
Weighted average exercise price for options exercisable at year end | 42.48 |  |
Range of exercise price, lower range limit | 41.32 |  |
Range of exercise price, upper range limit | $ 43.67 |  |
Weighted average remaining contractual life | 5 years 3 months 11 days |  |
Exercise Price Range 44.49 thru 48.32 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 40 |  |
Exercisable at end of year | 18 |  |
Weighted Average Outstanding at end of year (per share) | $ 45.93 |  |
Weighted average exercise price for options exercisable at year end | 45.20 |  |
Range of exercise price, lower range limit | 44.49 |  |
Range of exercise price, upper range limit | $ 48.32 |  |
Weighted average remaining contractual life | 5 years 2 months 11 days |  |
Exercise Price Range 50.71 thru 52.03 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 86 |  |
Exercisable at end of year | 29 |  |
Weighted Average Outstanding at end of year (per share) | $ 50.79 |  |
Weighted average exercise price for options exercisable at year end | 50.79 |  |
Range of exercise price, lower range limit | 50.71 |  |
Range of exercise price, upper range limit | $ 52.03 |  |
Weighted average remaining contractual life | 5 years 1 month 11 days |  |
Exercise Price Range 22.47 thru 52.03 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 564 |  |
Exercisable at end of year | 331 |  |
Weighted Average Outstanding at end of year (per share) | $ 40.52 |  |
Weighted average exercise price for options exercisable at year end | 37.00 |  |
Range of exercise price, lower range limit | 22.47 |  |
Range of exercise price, upper range limit | $ 52.03 |  |
Weighted average remaining contractual life | 3 years 10 months 11 days |  |

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