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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, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation | $ 11,907 | $ 10,549 | $ 8,103
Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate |  | 1.10% | 1.30%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate |  | 24.40% | 28.50%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate |  | 2.70% | 2.00%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term | 7 years | 6 years 1 month 6 days | 5 years 10 months 24 days
Outstanding at beginning of year (shares) | 538 | 440 | 564
Granted (shares) |  | 193 | 128
Exercise of stock options (in shares) | (99) | (95) | (206)
Forfeited (shares) | (8) |  | (46)
Outstanding at end of year (shares) | 431 | 538 | 440
Exercisable at end of year | 272 | 230 | 226
Weighted Average Outstanding at beginning of year (per share) | $ 51 | $ 45 | $ 41
Weighted average exercise price for options granted in the period |  | 62 | 48
Weighted average exercise price for options exercised in the period | 43 | 41 | 35
Weighted average exercise price for options forfeited in the period | 54 |  | 46
Weighted Average Outstanding at end of year (per share) | 53 | 51 | 45
Weighted average exercise price for options exercisable at year end | $ 50 | 45 | 42
Weighted-average fair value of options granted during the year (dollars per share) |  | $ 16 | $ 13
Aggregate intrinsic value of options exercised | $ 2,388 | $ 1,992 | $ 3,569
Average aggregate intrinsic value for options outstanding | 4,147 |  |
Average aggregate instrinsic value for exercisable options | 3,497 |  |
Share-based compensation | 1,597 | 1,578 | 1,313
Tax benefit related to share-based compensation expense | 403 | $ 398 | $ 466
Unrecognized compensation cost | $ 1,490 |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition | 1 year 4 months 24 days |  |
Exercise Price Range 42.48 through 44.90 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 93 |  |
Exercisable at end of year | 93 |  |
Weighted Average Outstanding at end of year (per share) | $ 43.63 |  |
Weighted average exercise price for options exercisable at year end | 43.63 |  |
Range of exercise price, lower range limit | 42.48 |  |
Range of exercise price, upper range limit | $ 44.90 |  |
Weighted average remaining contractual life | 2 years 9 months 18 days |  |
Exercise Price Range 45.34 through 48.32 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 100 |  |
Exercisable at end of year | 69 |  |
Weighted Average Outstanding at end of year (per share) | $ 47.73 |  |
Weighted average exercise price for options exercisable at year end | 47.69 |  |
Range of exercise price, lower range limit | 45.34 |  |
Range of exercise price, upper range limit | $ 48.32 |  |
Weighted average remaining contractual life | 4 years |  |
Exercise Price Range 50.71 through 53.73 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 49 |  |
Exercisable at end of year | 47 |  |
Weighted Average Outstanding at end of year (per share) | $ 51.16 |  |
Weighted average exercise price for options exercisable at year end | 51.07 |  |
Range of exercise price, lower range limit | 50.71 |  |
Range of exercise price, upper range limit | $ 53.73 |  |
Weighted average remaining contractual life | 2 years 4 months 24 days |  |
Exercise Price Range 57.18 through 60.42 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 88 |  |
Exercisable at end of year | 29 |  |
Weighted Average Outstanding at end of year (per share) | $ 58.80 |  |
Weighted average exercise price for options exercisable at year end | 58.68 |  |
Range of exercise price, lower range limit | 57.18 |  |
Range of exercise price, upper range limit | $ 60.42 |  |
Weighted average remaining contractual life | 5 years 1 month 6 days |  |
Exercise Price Range 64.26 through 64.26 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 100 |  |
Exercisable at end of year | 33 |  |
Weighted Average Outstanding at end of year (per share) | $ 64.26 |  |
Weighted average exercise price for options exercisable at year end | 64.26 |  |
Range of exercise price, lower range limit | 64.26 |  |
Range of exercise price, upper range limit | $ 64.26 |  |
Weighted average remaining contractual life | 5 years 8 months 12 days |  |
Exercise Price Range 42.48 through 64.26 [Member] | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 430 |  |
Exercisable at end of year | 271 |  |
Weighted Average Outstanding at end of year (per share) | $ 53.33 |  |
Weighted average exercise price for options exercisable at year end | 50.08 |  |
Range of exercise price, lower range limit | 42.48 |  |
Range of exercise price, upper range limit | $ 64.26 |  |
Weighted average remaining contractual life | 4 years 2 months 12 days |  |

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