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Condensed Consolidated Balance Sheets (unaudited) (Parenthetical) - $ / shares
Mar. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 700,000,000 700,000,000
Common stock, shares issued (in shares) 133,823,713 134,328,112
Common stock, shares outstanding (in shares) 133,823,713 134,328,112