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Equity Incentive Plans - Options by Exercise Price (Details) - $ / shares shares in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |
Granted, Wtd. Avg. grant date fair value (in dollars per share) | $ 3.96 | $ 3.64 | $ 5.91
Options granted (in shares) | 391 |  |
Exercise prices and related information of stock option outstanding |  |  |
Options outstanding, number outstanding (in shares) | 1,590 |  |
Options outstanding, Wtd. Avg. remaining contractual life | 6 years 10 months 24 days |  |
Options outstanding, Wtd. Avg. exercise price (in dollars per share) | $ 24.29 |  |
Options exercisable, Number exercisable (in shares) | 809 |  |
Options exercisable Wtd. Avg. Remaining Contractual Life | 5 years 6 months 10 days |  |
Options exercisable, Wtd. Avg. exercise price (in dollars per share) | $ 24.84 |  |
0-18.23 |  |  |
Exercise prices and related information of stock option outstanding |  |  |
Lower range limit, Exercise price (in dollars per share) | 0 |  |
Upper range limit, Exercise price (in dollars per share) | $ 18.23 |  |
Options outstanding, number outstanding (in shares) | 112 |  |
Options outstanding, Wtd. Avg. remaining contractual life | 1 year 8 months 23 days |  |
Options outstanding, Wtd. Avg. exercise price (in dollars per share) | $ 14.54 |  |
Options exercisable, Number exercisable (in shares) | 112 |  |
Options exercisable Wtd. Avg. Remaining Contractual Life | 1 year 8 months 23 days |  |
Options exercisable, Wtd. Avg. exercise price (in dollars per share) | $ 14.54 |  |
18.24-22.26 |  |  |
Exercise prices and related information of stock option outstanding |  |  |
Lower range limit, Exercise price (in dollars per share) | 18.24 |  |
Upper range limit, Exercise price (in dollars per share) | $ 22.26 |  |
Options outstanding, number outstanding (in shares) | 618 |  |
Options outstanding, Wtd. Avg. remaining contractual life | 7 years 1 month 28 days |  |
Options outstanding, Wtd. Avg. exercise price (in dollars per share) | $ 21.00 |  |
Options exercisable, Number exercisable (in shares) | 287 |  |
Options exercisable Wtd. Avg. Remaining Contractual Life | 6 years 3 months |  |
Options exercisable, Wtd. Avg. exercise price (in dollars per share) | $ 20.71 |  |
22.27-29.39 |  |  |
Exercise prices and related information of stock option outstanding |  |  |
Lower range limit, Exercise price (in dollars per share) | 22.27 |  |
Upper range limit, Exercise price (in dollars per share) | $ 29.39 |  |
Options outstanding, number outstanding (in shares) | 519 |  |
Options outstanding, Wtd. Avg. remaining contractual life | 7 years 7 months 9 days |  |
Options outstanding, Wtd. Avg. exercise price (in dollars per share) | $ 25.07 |  |
Options exercisable, Number exercisable (in shares) | 203 |  |
Options exercisable Wtd. Avg. Remaining Contractual Life | 5 years 2 months 1 day |  |
Options exercisable, Wtd. Avg. exercise price (in dollars per share) | $ 28.77 |  |
29.40-50.00 |  |  |
Exercise prices and related information of stock option outstanding |  |  |
Lower range limit, Exercise price (in dollars per share) | 29.4 |  |
Upper range limit, Exercise price (in dollars per share) | $ 50.00 |  |
Options outstanding, number outstanding (in shares) | 341 |  |
Options outstanding, Wtd. Avg. remaining contractual life | 7 years 14 days |  |
Options outstanding, Wtd. Avg. exercise price (in dollars per share) | $ 32.31 |  |
Options exercisable, Number exercisable (in shares) | 207 |  |
Options exercisable Wtd. Avg. Remaining Contractual Life | 6 years 11 months 12 days |  |
Options exercisable, Wtd. Avg. exercise price (in dollars per share) | $ 32.31 |  |

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- Definition Schedule of share based compensation shares authorized under stock option plans by exercise price range. + References No definition available. + Details
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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term of exercisable stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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