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Stock-Based Compensation (Tables)
9 Months Ended
Sep. 30, 2020
Share-based Payment Arrangement, Noncash Expense [Abstract]  
Share-based Compensation Arrangements by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding [Table Text Block]
Stock-based compensation expense consisted of the following:
 Three Months Ended September 30,Nine Months Ended September 30,
(in thousands)2020201920202019
Stock options$1,775 $1,509 $5,234 $4,600 
Restricted stock units3,315 2,869 7,568 8,559 
Total$5,090 $4,378 $12,802 $13,159