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Equity Plans - Employee Stock Purchase Plan (Details) - 2016 ESPP
6 Months Ended
Jun. 30, 2020
shares
Equity Plans  
Maximum payroll deduction for share purchases (as a percent) 15.00%
Purchase price of stock (as a percent) 85.00%
Shares issued in period 56,742
Number of shares available for issuance 793,427