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Employee Benefit Plans - Schedule of Stock Options, by Exercise Price Range (Details)
12 Months Ended
Dec. 31, 2019
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 614,311
Options outstanding, Weighted average remaining contractual life (in years) 6 years 10 months 24 days
Options outstanding, Weighted average exercise price (in dollars per share) $ 14.78
Options exercisable (in shares) | shares 372,794
Options exercisable, Weighted average exercise price (in dollars per share) $ 11.16
$0.00 - $6.00  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 61,761
Options outstanding, Weighted average remaining contractual life (in years) 2 years 8 months 12 days
Options outstanding, Weighted average exercise price (in dollars per share) $ 5.60
Options exercisable (in shares) | shares 61,761
Options exercisable, Weighted average exercise price (in dollars per share) $ 5.60
$0.00 - $6.00 | Minimum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower 0
$0.00 - $6.00 | Maximum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, upper $ 6
$6.01 - $12.00  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 193,517
Options outstanding, Weighted average remaining contractual life (in years) 5 years 2 months 12 days
Options outstanding, Weighted average exercise price (in dollars per share) $ 8.70
Options exercisable (in shares) | shares 193,517
Options exercisable, Weighted average exercise price (in dollars per share) $ 8.70
$6.01 - $12.00 | Minimum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower 6.01
$6.01 - $12.00 | Maximum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, upper $ 12
$12.01 - $18.00  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 67,533
Options outstanding, Weighted average remaining contractual life (in years) 7 years 1 month 6 days
Options outstanding, Weighted average exercise price (in dollars per share) $ 15.78
Options exercisable (in shares) | shares 52,336
Options exercisable, Weighted average exercise price (in dollars per share) $ 15.60
$12.01 - $18.00 | Minimum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower 12.01
$12.01 - $18.00 | Maximum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, upper $ 18
$18.01 - $24.00  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 291,500
Options outstanding, Weighted average remaining contractual life (in years) 8 years 9 months 18 days
Options outstanding, Weighted average exercise price (in dollars per share) $ 20.54
Options exercisable (in shares) | shares 65,180
Options exercisable, Weighted average exercise price (in dollars per share) $ 20.16
$18.01 - $24.00 | Minimum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, lower 18.01
$18.01 - $24.00 | Maximum  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices, upper $ 24