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Income Taxes - Reconciliation of Statutory Federal Income Tax Rate to the Company's Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Income Taxes      
Income tax at the federal statutory rate 21.00% 35.00% 35.00%
State taxes, net of federal benefit 0.60% 0.50% 0.30%
Net impact related to foreign subsidiary   (1.20%)  
Change in valuation allowance (22.50%) 19.90% (36.20%)
Impact of tax reform rate change   (56.40%)  
Tax credits 1.40% 1.00% 0.30%
Stock Based Compensation (1.20%) (0.80%) 0.10%
Other 0.70% 0.10% 0.50%
Income tax provision 0.00% (1.90%)