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Equity Incentive Plans - Summary of Share-based Awards Available for Grant under 2016 Plan (Details) - 2016 Plan - shares
3 Months Ended 12 Months Ended
Mar. 31, 2020
Dec. 31, 2019
Share-Based Awards Available For Grant    
Beginning balance 5,528,132 4,717,292
Additional awards authorized 1,333,928 1,218,402
Awards granted (286,155) (649,911)
Awards forfeited 110,981 181,513
Awards withheld for tax purposes 51,475 60,836
Ending balance 6,738,361 5,528,132