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Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock Issued During Period, Shares, Employee Stock Purchase Plans 126,046 61,691 126,046 61,691  
Weighted Average Exercise Price (in dollars per share):          
Share-based Compensation Arrangement by Share-based Payment Award, Per Share Weighted Average Price of Shares Purchased $ 15.60 $ 29.32 $ 15.60 $ 29.32  
Stock Options          
Number of Options (in shares):          
Beginning balance     606,327    
Options granted     0    
Options exercised     (124,417)    
Options canceled     (1,700)    
Ending balance 480,210   480,210   606,327
Weighted Average Exercise Price (in dollars per share):          
Beginning balance     $ 13.41    
Options granted     0    
Options exercised     10.65    
Options canceled     9.40    
Ending balance $ 14.15   $ 14.15   $ 13.41
Wtd avg remaining term, Outstanding     3 years 1 month 2 days   3 years 7 months 13 days
Aggregate intrinsic value, Outstanding $ 3,542   $ 3,542   $ 4,566