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Stock-based Compensation - Employee Stock Purchase Plan (Details) - shares
1 Months Ended 6 Months Ended
May 31, 2015
Jun. 30, 2020
Jun. 30, 2019
Jan. 01, 2020
Stock-based compensation        
ESPP shares issued during period (in shares)   17,018 10,718  
Employee Stock        
Stock-based compensation        
Number of common shares reserved for future issuance (in shares) 243,347      
Annual increase for common stock for issuance (as a percent) 1.00%      
Increase of common shares reserved for future issuance (in shares)       492,722