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Stockholders' Equity and Stock Plans - Options Outstanding by Price Range (Details) - $ / shares
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Dec. 31, 2012
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 185,269 194,672 220,456 285,533
Stock Options Outstanding, Remaining Contractual Life (in years) 5 years 4 years 5 months 22 days 4 years 18 days 4 years 5 months 5 days
Stock Options Outstanding, Weighted Average Exercise Price $ 38.35 $ 35.14 $ 32.74 $ 31.73
$20.01 - $25.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit 20.01      
Range of Exercise Prices, Upper Limit 25.00      
$25.01 - $30.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit 25.01      
Range of Exercise Prices, Upper Limit 30.00      
$30.01 - $35.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit 30.01      
Range of Exercise Prices, Upper Limit 35.00      
$35.01 - $40.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit 35.01      
Range of Exercise Prices, Upper Limit 40.00      
$40.01 - $45.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit 40.01      
Range of Exercise Prices, Upper Limit 45.00      
$45.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit 45.01      
Range of Exercise Prices, Upper Limit 50.00      
$45.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit 45.01      
Range of Exercise Prices, Upper Limit $ 50.00      
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 185,269      
Stock Options Outstanding, Remaining Contractual Life (in years) 5 years      
Stock Options Outstanding, Weighted Average Exercise Price $ 38.35      
Stock Options Exercisable 114,581      
Stock Options Exercisable, Weighted Average Exercise Price $ 34.12      
Stock options | $20.01 - $25.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 13,138      
Stock Options Outstanding, Remaining Contractual Life (in years) 3 years 3 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price $ 22.25      
Stock Options Exercisable 13,138      
Stock Options Exercisable, Weighted Average Exercise Price $ 22.25      
Stock options | $25.01 - $30.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 10,180      
Stock Options Outstanding, Remaining Contractual Life (in years) 2 years 3 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price $ 28.75      
Stock Options Exercisable 10,180      
Stock Options Exercisable, Weighted Average Exercise Price $ 28.75      
Stock options | $30.01 - $35.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 41,270      
Stock Options Outstanding, Remaining Contractual Life (in years) 1 year 3 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price $ 33.67      
Stock Options Exercisable 41,270      
Stock Options Exercisable, Weighted Average Exercise Price $ 33.67      
Stock options | $35.01 - $40.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 50,630      
Stock Options Outstanding, Remaining Contractual Life (in years) 4 years 9 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price $ 37.50      
Stock Options Exercisable 35,663      
Stock Options Exercisable, Weighted Average Exercise Price $ 37.02      
Stock options | $40.01 - $45.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 29,551      
Stock Options Outstanding, Remaining Contractual Life (in years) 6 years 10 months 24 days      
Stock Options Outstanding, Weighted Average Exercise Price $ 41.95      
Stock Options Exercisable 11,220      
Stock Options Exercisable, Weighted Average Exercise Price $ 41.89      
Stock options | $45.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 12,550      
Stock Options Outstanding, Remaining Contractual Life (in years) 8 years 3 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price $ 45.88      
Stock Options Exercisable 2,510      
Stock Options Exercisable, Weighted Average Exercise Price $ 45.88      
Stock options | $45.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding 27,950      
Stock Options Outstanding, Remaining Contractual Life (in years) 9 years 2 months 12 days      
Stock Options Outstanding, Weighted Average Exercise Price $ 50.70      
Stock Options Exercisable 600      
Stock Options Exercisable, Weighted Average Exercise Price $ 50.27