Stock Based Compensation - Stock Option Activity (Details) - $ / shares	9 Months Ended	12 Months Ended
Sep. 30, 2020	Dec. 31, 2019
Number of Shares
Beginning balance (in shares)	245,153
Granted (in shares)	15,000
Exercised (in shares)	(20,106)
Forfeited (in shares)	(19,776)
Ending balance (in shares)	220,271	245,153
Exercisable (in shares)	139,548
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 24.36
Granted (in dollars per share)	18.60
Exercised (in dollars per share)	22.69
Forfeited (in dollars per share)	26.64
Ending balance (in dollars per share)	23.92	$ 24.36
Exercisable (in dollars per share)	$ 23.67
Weighted Average Remaining Contractual Life in Years
Outstanding at December 31, 2019	6 years 1 month 6 days	6 years 6 months
Outstanding at September 30, 2020	6 years 1 month 6 days	6 years 6 months
Exercisable at September 30, 2020	5 years 7 months 6 days

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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