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Stock-based Compensation - Restricted Stock (Details) - Restricted Stock Units
3 Months Ended
Mar. 31, 2020
$ / shares
shares
Outstanding RSUs  
Beginning balance (in shares) | shares 1,214,818
Granted (in shares) | shares 64,397
Released (in shares) | shares (138,260)
Canceled (in shares) | shares (23,348)
Ending balance (in shares) | shares 1,117,607
Outstanding and expected to vest (in shares) | shares 826,637
Weighted Average Fair Value  
Beginning balance (usd per share) | $ / shares $ 67.99
Granted (usd per share) | $ / shares 87.34
Released (usd per share) | $ / shares 59.51
Canceled (usd per share) | $ / shares 69.61
Ending balance (usd per share) | $ / shares 70.12
Outstanding and expected to vest (usd per share) | $ / shares $ 68.49