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Stockholders' Equity and Stock Plans - Options Outstanding by Price Range (Details) - $ / shares
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 181,789 185,269 194,672 220,456
Stock Options Outstanding, Remaining Contractual Life (in years) 5 years 9 months 7 days 5 years 4 years 5 months 22 days 4 years 18 days
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 41.20 $ 38.35 $ 35.14 $ 32.74
$20.01 - $25.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (usd per share) 20.00      
Range of Exercise Prices, Upper Limit (usd per share) 25.00      
$25.01 - $30.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (usd per share) 25.01      
Range of Exercise Prices, Upper Limit (usd per share) 30.00      
$30.01 - $35.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (usd per share) 30.01      
Range of Exercise Prices, Upper Limit (usd per share) 35.00      
$35.01 - $40.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (usd per share) 35.01      
Range of Exercise Prices, Upper Limit (usd per share) 40.00      
$40.01 - $45.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (usd per share) 40.01      
Range of Exercise Prices, Upper Limit (usd per share) 45.00      
$45.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (usd per share) 45.01      
Range of Exercise Prices, Upper Limit (usd per share) 50.00      
$50.01 - $55.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Range of Exercise Prices, Lower Limit (usd per share) 50.01      
Range of Exercise Prices, Upper Limit (usd per share) $ 55.00      
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 181,789      
Stock Options Outstanding, Remaining Contractual Life (in years)      
Stock Options Exercisable (in shares) 103,211      
Stock options | $20.01 - $25.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 13,138      
Stock Options Outstanding, Remaining Contractual Life (in years) 2 years 3 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 22.25      
Stock Options Exercisable (in shares) 13,138      
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 22.25      
Stock options | $25.01 - $30.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 10,180      
Stock Options Outstanding, Remaining Contractual Life (in years) 1 year 3 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 28.75      
Stock Options Exercisable (in shares) 10,180      
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 28.75      
Stock options | $30.01 - $35.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 9,195      
Stock Options Outstanding, Remaining Contractual Life (in years) 3 years 3 months 18 days      
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 33.10      
Stock Options Exercisable (in shares) 9,195      
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 33.10      
Stock options | $35.01 - $40.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 46,588      
Stock Options Outstanding, Remaining Contractual Life (in years) 4 years 1 month 6 days      
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 37.70      
Stock Options Exercisable (in shares) 39,038      
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 37.48      
Stock options | $40.01 - $45.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 29,551      
Stock Options Outstanding, Remaining Contractual Life (in years) 5 years 10 months 24 days      
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 41.95      
Stock Options Exercisable (in shares) 17,130      
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 41.91      
Stock options | $45.01 - $50.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 45,187      
Stock Options Outstanding, Remaining Contractual Life (in years) 8 years 8 months 12 days      
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 48.40      
Stock Options Exercisable (in shares) 5,020      
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 45.88      
Stock options | $50.01 - $55.00        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock Options Outstanding (in shares) 27,950      
Stock Options Outstanding, Remaining Contractual Life (in years) 7 years 10 months 24 days      
Stock Options Outstanding, Weighted Average Exercise Price (usd per share) $ 50.70      
Stock Options Exercisable (in shares) 9,510      
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 50.69