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Stock-Based Compensation and Compensation Plans - Options Outstanding and Exercisable by Exercise Price and Options Exercised (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2019
USD ($)
$ / shares
shares
Options Outstanding  
Total Options Outstanding (in shares) | shares 6,780
Weighted Average Remaining Life (Years) 7 years 9 months 24 days
Weighted Average Exercise Price (in dollars per share) $ 10.89
Aggregate Intrinsic Value of Options Outstanding | $ $ 28,475
Options Exercisable  
Number Exercisable (in shares) | shares 3,317
Weighted Average Exercise Price (in dollars per share) $ 18.38
Aggregate Intrinsic Value of Options Exercisable | $ $ 10,557
$1.13-$2.79  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) $ 1.13
Exercise prices, high end of range (in dollars per share) $ 2.79
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,350
Weighted Average Remaining Life (Years) 8 years 9 months 18 days
Weighted Average Exercise Price (in dollars per share) $ 1.59
Options Exercisable  
Number Exercisable (in shares) | shares 433
Weighted Average Exercise Price (in dollars per share) $ 1.76
$2.80-$2.96  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 2.80
Exercise prices, high end of range (in dollars per share) $ 2.96
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,725
Weighted Average Remaining Life (Years) 7 years 11 months
Weighted Average Exercise Price (in dollars per share) $ 2.93
Options Exercisable  
Number Exercisable (in shares) | shares 876
Weighted Average Exercise Price (in dollars per share) $ 2.93
$2.97-$4.87  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 2.97
Exercise prices, high end of range (in dollars per share) $ 4.87
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,444
Weighted Average Remaining Life (Years) 8 years 1 month 24 days
Weighted Average Exercise Price (in dollars per share) $ 4.18
Options Exercisable  
Number Exercisable (in shares) | shares 648
Weighted Average Exercise Price (in dollars per share) $ 4.48
$4.88-$31.09  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 4.88
Exercise prices, high end of range (in dollars per share) $ 31.09
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,090
Weighted Average Remaining Life (Years) 8 years 8 months 24 days
Weighted Average Exercise Price (in dollars per share) $ 7.13
Options Exercisable  
Number Exercisable (in shares) | shares 216
Weighted Average Exercise Price (in dollars per share) $ 14.89
$31.10-$73.22  
Range of Exercise Prices  
Exercise prices, low end of range (in dollars per share) 31.10
Exercise prices, high end of range (in dollars per share) $ 73.22
Options Outstanding  
Total Options Outstanding (in shares) | shares 1,171
Weighted Average Remaining Life (Years) 5 years 1 month 6 days
Weighted Average Exercise Price (in dollars per share) $ 45.14
Options Exercisable  
Number Exercisable (in shares) | shares 1,144
Weighted Average Exercise Price (in dollars per share) $ 45.01