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Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
Jun. 30, 2020
Sep. 30, 2019
Jun. 30, 2019
Sep. 30, 2020
Sep. 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 0 126,046 0 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         (184,970)    
Options canceled         (1,700)    
Ending balance 419,657       419,657   606,327
Weighted Average Exercise Price (in dollars per share):              
Beginning balance         $ 13.41    
Options granted         0    
Options exercised         11.21    
Options canceled         9.40    
Ending balance $ 14.40       $ 14.40   $ 13.41
Wtd avg remaining term, Outstanding         2 years 9 months   3 years 7 months 13 days
Aggregate intrinsic value, Outstanding $ 6,159       $ 6,159   $ 4,566