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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Statement Of Financial Position [Abstract]    
Common stock, shares authorized 200,000,000 200,000,000
Common stock, shares issued 77,569,117 77,215,066
Common stock, shares outstanding 77,569,117 77,215,066
Common stock, par value $ 0.00001 $ 0.00001
Treasury stock, shares 223,823 223,823