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Stockholders' Equity and Stock Plans - Options Outstanding Rollforward (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Dec. 31, 2012
Number of Shares        
Options outstanding, beginning balance 194,672 220,456 285,533  
Granted 28,320 26,421 30,000  
Cancelled, expired or forfeited (652) (2,790) (23,840)  
Exercised (37,071) (49,415) (71,237)  
Options outstanding, ending balance 185,269 194,672 220,456 285,533
Exercisable (vested), ending balance 114,581 133,153 163,301  
Weighted Average Exercise Price        
Options outstanding, beginning balance $ 35.14 $ 32.74 $ 31.73  
Granted 50.70 44.83 39.99  
Cancelled, expired or forfeited 48.38 39.01 35.12  
Exercised 30.72 29.39 31.13  
Options outstanding, ending balance 38.35 35.14 32.74 $ 31.73
Exercisable (vested), ending balance $ 34.12 $ 32.31 $ 31.09  
Aggregate Intrinsic Value        
Options outstanding, beginning balance $ 3,398 $ 2,349 $ 1,661  
Exercised 755 771 664  
Options outstanding, ending balance 2,788 3,398 2,349 $ 1,661
Exercisable (vested) at year end $ 2,209 $ 2,701 $ 2,008  
Weighted Average Grant-Date Fair Value        
Granted $ 12.21 $ 12.04 $ 10.59  
Weighted Average Remaining Contractual Term        
Options outstanding 5 years 4 years 5 months 22 days 4 years 18 days 4 years 5 months 5 days
Exercisable (vested) 3 years 2 months 16 days 2 years 10 months 16 days 2 years 6 months 21 days