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Stock-Based Compensation - Schedule of Options Exercisable (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2019
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Options Outstanding (in shares) | shares 1,231,225
Weighted Average Remaining Contractual Life in Years 8 years 7 months 6 days
Weighted average exercise price (in dollars per share) $ 11.76
Options exercisable (in shares) | shares 170,139
Weighted average exercise price (in dollars per share) $ 14.68
$9.00 - $12.99  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Options Outstanding (in shares) | shares 713,922
Weighted Average Remaining Contractual Life in Years 9 years 1 month 6 days
Weighted average exercise price (in dollars per share) $ 9.45
Options exercisable (in shares) | shares 27
Weighted average exercise price (in dollars per share) $ 11.27
Exercise price range, lower limit (in dollars per share) 9.00
Exercise price range, upper limit (in dollars per share) $ 12.99
$13.00 - $14.99  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Options Outstanding (in shares) | shares 187,324
Weighted Average Remaining Contractual Life in Years 7 years 1 month 6 days
Weighted average exercise price (in dollars per share) $ 14.00
Options exercisable (in shares) | shares 90,610
Weighted average exercise price (in dollars per share) $ 14.00
Exercise price range, lower limit (in dollars per share) 13.00
Exercise price range, upper limit (in dollars per share) $ 14.99
$15.00 - $18.99  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Options Outstanding (in shares) | shares 329,979
Weighted Average Remaining Contractual Life in Years 8 years 2 months 12 days
Weighted average exercise price (in dollars per share) $ 15.50
Options exercisable (in shares) | shares 79,502
Weighted average exercise price (in dollars per share) $ 15.45
Exercise price range, lower limit (in dollars per share) 15.00
Exercise price range, upper limit (in dollars per share) $ 18.99