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Stockholders' Equity - Activities Under Equity Plan (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
ESPP      
Share-based Compensation Arrangement By Share-based Payment Award, Shares Authorized [Roll Forward]      
Shares available for grant (shares)     184,860
ESPP common stock purchased by eligible employees (shares) (18,586) (9,876) (18,586)
Shares available for grant (shares) 166,274   166,274
Restricted Stock and Restricted Stock Units (RSUs) | 2012 Equity Plan      
Share-based Compensation Arrangement By Share-based Payment Award, Shares Authorized [Roll Forward]      
Shares available for grant (shares)     646,480
RSU and restricted stock awarded to eligible employees, net of forfeitures (shares)     (549,589)
Shares available for grant (shares) 126,546   126,546
Eligible Employees | Restricted Stock and Restricted Stock Units (RSUs) | 2012 Equity Plan      
Share-based Compensation Arrangement By Share-based Payment Award, Shares Authorized [Roll Forward]      
RSU and restricted stock awarded to eligible employees, net of forfeitures (shares)     (519,934)