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Equity Plans - ESPP Description and Rights Valuation Assumptions (Details) - 2016 Employee Stock Purchase Plan [Member]
3 Months Ended
Mar. 31, 2018
shares
Equity Plans  
Number of shares authorized 73,445
Shares issued in period 454,660
Maximum payroll deduction for share purchases (as a percent) 15.00%
Purchase price of stock (as a percent) 85.00%