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Stock-Based Compensation - Weighted Average Assumptions Used to Estimate Fair Value of Stock Purchase Rights under ESPP (Details) - ESPP [Member]
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Weighted average assumptions used to estimate fair value of stock options granted and stock purchase rights under ESPP        
Volatility 66.00% 37.00% 47.00% 37.00%
Expected term (years) 6 months 6 months 6 months 6 months
Risk free interest rate 0.40% 2.40% 1.00% 2.50%