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Consolidated Balance Sheets (Parenthetical) (Unaudited) - $ / shares
Sep. 30, 2017
Dec. 31, 2016
Sep. 30, 2016
Common stock, par value (in dollars per share) $ 0.001 $ 0.001 $ 0.001
Common stock, authorized (in shares) 100,000,000 100,000,000 100,000,000
Common stock, shares issued (in shares) 40,122,935 41,089,720 41,711,888
Common stock, outstanding (in shares) 40,122,935 41,089,720 41,711,888