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Stockholders' Equity (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Weighted average shares outstanding:        
Basic weighted average shares outstanding 52,294,522 54,449,256 52,712,030 53,180,850
Incremental shares from assumed exercise of stock options and vesting of restricted stock 907,449 1,522,805 1,441,369
Diluted weighted average shares outstanding 53,201,971 55,972,061 52,712,030 54,622,219