Annual report pursuant to Section 13 and 15(d)

Equity Compensation - Summary of Weighted Average Exercise Prices and Contractual Lives for Outstanding and Exercisable Stock Options (Details)

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Equity Compensation - Summary of Weighted Average Exercise Prices and Contractual Lives for Outstanding and Exercisable Stock Options (Details) - Stock Option - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Outstanding        
Shares (in shares) 1,116,045 1,327,919 1,506,604 1,539,017
Weighted average remaining life (in years) 5 years 2 months 12 days      
Weighted average exercise price (in usd per share) $ 23.07 $ 18.13 $ 14.65 $ 12.91
Exercisable        
Shares (in shares) 802,873 1,043,596 1,252,315  
Weighted average remaining life (in years) 3 years 9 months 18 days      
Weighted average exercise price (in usd per share) $ 19.79 $ 14.27 $ 11.17  
$7.68 - $13.63        
Share-based Compensation Arrangement by Share-based Payment Award        
Exercise price, lower range (in usd per share) 3.19      
Exercise price, upper range (in usd per share) $ 13.63      
Outstanding        
Shares (in shares) 419,944      
Weighted average remaining life (in years) 1 year 10 months 24 days      
Weighted average exercise price (in usd per share) $ 9.58      
Exercisable        
Shares (in shares) 419,944      
Weighted average remaining life (in years) 1 year 10 months 24 days      
Weighted average exercise price (in usd per share) $ 9.58      
$22.69 - $35.82        
Share-based Compensation Arrangement by Share-based Payment Award        
Exercise price, lower range (in usd per share) 22.69      
Exercise price, upper range (in usd per share) $ 35.82      
Outstanding        
Shares (in shares) 677,848      
Weighted average remaining life (in years) 7 years 3 months 18 days      
Weighted average exercise price (in usd per share) $ 30.82      
Exercisable        
Shares (in shares) 364,676      
Weighted average remaining life (in years) 6 years      
Weighted average exercise price (in usd per share) $ 30.25      
$45.89 - $45.89        
Share-based Compensation Arrangement by Share-based Payment Award        
Exercise price, lower range (in usd per share) 45.89      
Exercise price, upper range (in usd per share) $ 45.89      
Outstanding        
Shares (in shares) 18,253      
Weighted average remaining life (in years) 5 years 2 months 12 days      
Weighted average exercise price (in usd per share) $ 45.89      
Exercisable        
Shares (in shares) 18,253      
Weighted average remaining life (in years) 5 years 2 months 12 days      
Weighted average exercise price (in usd per share) $ 45.89