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Shareholder's Equity and Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2019
Sep. 30, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options granted   856,939  
2016 Incentive Award Plan | Granted to Employees      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Awards granted to employees   778,986 722,200
2016 Incentive Award Plan | Non-employee Directors      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options granted     33,801
2016 Incentive Award Plan | Vesting After Four Years | Stock Options      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options granted   10,000 443,000
Award vesting period   4 years 4 years
2016 Incentive Award Plan | Vesting After Four Years | Restricted Stock Units (RSU)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Award vesting period   4 years 4 years
Shares granted   190,310 279,200
2016 Incentive Award Plan | Vesting After One Year      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options granted   5,000  
Award vesting period   1 year  
2016 Incentive Award Plan | Vesting After One Year | Non-employee Directors      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options granted   38,832  
Award vesting period   1 year  
2016 Incentive Award Plan | Fully-vested Awards      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options granted   551,676  
2016 Incentive Award Plan | Vesting in Twelve Equal Monthly Installments      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock options granted   22,000  
2014 Incentive Award Plan | Stock Options | MPI | Tender Offer      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of vested options purchased by related party 229,431    
2014 Incentive Award Plan | Stock Options | MPI | Selling, General and Administrative Expenses | Tender Offer      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock-based compensation expense $ 5.1 $ 5.1