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Equity Incentive Plans and Stock-Based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Stock-based compensation        
Fair value assumptions, expected dividend rate (as a percentage)     0.00%  
Employee stock purchase plan        
Stock-based compensation        
Employee stock purchase plan, shares issued during period     277,838 429,396
Employee stock purchase plan, weighted-average price per share     $ 10.51 $ 7.95
Number of additional shares authorized     2,000,000  
Shares available for issuance 3,400,000   3,400,000  
Discount from market price specific date     15.00%  
Stock-based compensation expense $ 0.3 $ 0.3 $ 1.1 $ 1.2
Unrecognized compensation cost 0.1   $ 0.1  
Unrecognized compensation cost, weighted-average period     1 month  
Options        
Stock-based compensation        
Stock-based compensation expense 0.2 0.3 $ 0.4 0.8
Unrecognized compensation cost 1.4   $ 1.4  
Unrecognized compensation cost, weighted-average period     2 years 3 months 18 days  
Nonvested equity stock units and stock units        
Stock-based compensation        
Stock-based compensation expense 6.3 $ 6.8 $ 18.1 $ 19.7
Unrecognized compensation cost $ 39.9   $ 39.9  
Unrecognized compensation cost, weighted-average period     2 years 3 months 18 days  
Awards, nonvested grants in period, shares 100,000 400,000 1,931,563 4,100,000
Awards, nonvested requisite service period     4 years  
Awards, nonvested grants in period, fair value $ 0.9 $ 5.6 $ 30.2 $ 41.2
Nonvested equity stock units and stock units | Director        
Stock-based compensation        
Awards, nonvested requisite service period     1 year  
Nonvested equity stock units and stock units | Minimum        
Stock-based compensation        
Awards, vesting rights (as a percentage)     0.00%  
Nonvested equity stock units and stock units | Maximum        
Stock-based compensation        
Awards, vesting rights (as a percentage)     200.00%