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Stock-Based Compensation - Narrative (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Stock options and assumed options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock options exercised (in shares) 139,225 60,043 397,416 258,668
Restricted stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock units granted (in shares) 169,699 88,308 488,771 425,324
Restricted stock units vested (in shares) 34,136 15,880 121,259 177,946
2015 Equity Incentive Plan | Stock options and assumed options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock options granted (in shares) 2,000 30,000 143,650 140,500