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Shareholders' Equity, Stock Incentive Plan and Net Income per Share - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation | $ 11,033 | $ 11,715 | $ 10,191
Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expected dividend yield (in hundredths) | 1.10% |  | 1.10%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate | 24.10% |  | 24.40%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate | 1.50% |  | 2.70%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term | 5 years 10 months 24 days |  | 6 years 1 month 6 days
Continuing Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at beginning of year (shares) | 417 | 512 | 417
Granted (shares) | 36 |  | 190
Exercise of stock options (in shares) | (89) | (87) | (95)
Outstanding at end of year (shares) | 359 | 417 | 512
Exercisable at end of year | 265 | 262 | 213
Weighted Average Outstanding at beginning of year (per share) | $ 53.37 | $ 51.49 | $ 44.55
Weighted average exercise price for options granted in the period | 65.96 |  | 61.72
Weighted average exercise price for options exercised in the period | 47.72 | 42.24 | 41.42
Weighted Average Outstanding at end of year (per share) | 55.79 | 53.37 | 51.49
Weighted average exercise price for options exercisable at year end | 53.20 | $ 50.03 | 44.66
Weighted-average fair value of options granted during the year (dollars per share) | $ 14.79 |  | $ 15.82
Aggregate intrinsic value of options exercised | $ 1,568 | $ 2,196 | $ 1,992
Average aggregate intrinsic value for options outstanding | 970 |  |
Average aggregate instrinsic value for exercisable options | 1,435 |  |
Share-based compensation | 1,163 | 1,556 | 1,521
Tax benefit related to share-based compensation expense | $ 287 | $ 392 | $ 384
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period | 5 | 8 |
Unrecognized compensation cost | $ 784 |  |
Weighted average period over which recognized compensation expense will be recognized (years) | 1 year 3 months 18 days |  |
Weighted average exercise price for options forfeited in the period | $ 59.73 | $ 53.76 |
Continuing Operations | Non-employee Director Stock Options [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares available for grant | 92 |  |
Discontinued Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at beginning of year (shares) | 14 | 26 | 22
Granted (shares) |  |  | 4
Exercise of stock options (in shares) |  | (12) |
Outstanding at end of year (shares) | 14 | 14 | 26
Exercisable at end of year | 14 | 9 | 17
Weighted Average Outstanding at beginning of year (per share) | $ 52.15 | $ 49.00 | $ 47.49
Weighted average exercise price for options granted in the period |  |  | 58.40
Weighted average exercise price for options exercised in the period |  | 45.46 |
Weighted Average Outstanding at end of year (per share) | 52.15 | 52.15 | 49.00
Weighted average exercise price for options exercisable at year end | $ 52.15 | $ 51.35 | 47.74
Weighted-average fair value of options granted during the year (dollars per share) |  |  | $ 16
Aggregate intrinsic value of options exercised |  | $ 193 |
Average aggregate intrinsic value for options outstanding | $ 54 |  |
Average aggregate instrinsic value for exercisable options | 54 |  |
Share-based compensation | 22 | 41 | $ 57
Tax benefit related to share-based compensation expense | $ 6 | $ 11 | $ 14
Exercise Price Range 43.67 through 44.90 [Member] | Continuing Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 59 |  |
Exercisable at end of year | 59 |  |
Weighted Average Outstanding at end of year (per share) | $ 43.70 |  |
Weighted average exercise price for options exercisable at year end | 43.70 |  |
Range of exercise price, lower range limit | 43.67 |  |
Range of exercise price, upper range limit | $ 44.90 |  |
Weighted average remaining contractual life | 2 years 1 month 6 days |  |
Exercise Price Range 47.82 through 48.32 [Member] | Continuing Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 68 |  |
Exercisable at end of year | 68 |  |
Weighted Average Outstanding at end of year (per share) | $ 47.86 |  |
Weighted average exercise price for options exercisable at year end | 47.86 |  |
Range of exercise price, lower range limit | 47.82 |  |
Range of exercise price, upper range limit | $ 48.32 |  |
Weighted average remaining contractual life | 3 years 1 month 6 days |  |
Exercise Price Range 50.71 through 53.73 [Member] | Continuing Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 26 |  |
Exercisable at end of year | 26 |  |
Weighted Average Outstanding at end of year (per share) | $ 51.31 |  |
Weighted average exercise price for options exercisable at year end | 51.31 |  |
Range of exercise price, lower range limit | 50.71 |  |
Range of exercise price, upper range limit | $ 53.73 |  |
Weighted average remaining contractual life | 1 year 7 months 6 days |  |
Exercise Price Range 57.18 through 60.42 [Member] | Continuing Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 70 |  |
Exercisable at end of year | 45 |  |
Weighted Average Outstanding at end of year (per share) | $ 58.73 |  |
Weighted average exercise price for options exercisable at year end | 58.64 |  |
Range of exercise price, lower range limit | 57.18 |  |
Range of exercise price, upper range limit | $ 60.42 |  |
Weighted average remaining contractual life | 4 years 1 month 6 days |  |
Exercise Price Range 64.26 through 65.96 [Member] | Continuing Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 136 |  |
Exercisable at end of year | 67 |  |
Weighted Average Outstanding at end of year (per share) | $ 64.71 |  |
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 | $ 65.96 |  |
Weighted average remaining contractual life | 5 years |  |
Exercise Price Range 43.67 through 65.96 [Member] | Continuing Operations | Employee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding at end of year (shares) | 359 |  |
Exercisable at end of year | 265 |  |
Weighted Average Outstanding at end of year (per share) | $ 55.88 |  |
Weighted average exercise price for options exercisable at year end | 53.23 |  |
Range of exercise price, lower range limit | 43.67 |  |
Range of exercise price, upper range limit | $ 65.96 |  |
Weighted average remaining contractual life | 3 years 8 months 12 days |  |
Exercise Price Range 47.82 through 58.40 | Discontinued Operations | 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) | $ 52.22 |  |
Weighted average exercise price for options exercisable at year end | 52.22 |  |
Range of exercise price, lower range limit | 47.82 |  |
Range of exercise price, upper range limit | $ 58.40 |  |
Weighted average remaining contractual life | 3 years 6 months |  |

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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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