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Equity Plans - ESPP Description and Rights Valuation Assumptions (Details) - 2016 Employee Stock Purchase Plan
3 Months Ended 9 Months Ended
Sep. 30, 2018
shares
Sep. 30, 2018
shares
Equity Plans    
Number of shares authorized 425,155 425,155
Shares issued in period 102,950  
Maximum payroll deduction for share purchases (as a percent) 15.00% 15.00%
Purchase price of stock (as a percent)   85.00%