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Stock Incentive Plans - Summary of Share-based Awards Available for Grant under 2016 Plan (Details) - 2016 Plan - shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-Based Awards Available for Grant      
Beginning balance (in shares) 4,717,292 4,034,152 3,743,037
Additional options authorized (in shares) 1,218,402 1,168,865 1,106,966
Awards granted (in shares) (649,911) (666,913) (837,436)
Awards forfeited (in shares) 181,513 124,478 21,585
Awards withheld for tax purposes (in shares) 60,836 56,710  
Ending balance (in shares) 5,528,132 4,717,292 4,034,152