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Equity Incentive Plans - Schedule of Stock Option Activity (Details) - 2005 Plan and 2017 Plan
9 Months Ended
Sep. 30, 2019
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Number of Options Outstanding, Beginning Balance | shares 820,186
Number of Options Outstanding, Granted | shares 91,000
Number of Options Outstanding, Exercised | shares (302,174)
Number of Options Outstanding, Canceled | shares (30,150)
Number of Options Outstanding, Ending Balance | shares 578,862
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Weighted Average Exercise Price, Beginning Balance | $ / shares $ 8.44
Weighted Average Exercise Price, Granted | $ / shares 43.89
Weighted Average Exercise Price, Exercised | $ / shares 1.46
Weighted Average Exercise Price, Canceled | $ / shares 23.60
Weighted Average Exercise Price, Ending Balance | $ / shares $ 16.87