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Share-Based Compensation - Narrative (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of average closing price to be paid by employees     85.00%  
Maximum common stock purchases through advance payroll deductions in a calendar year     $ 25,000  
Share-based compensation $ 844,000 $ 776,000 $ 1,825,000 $ 1,653,000
Forfeiture rate     1.70%  
Unrecognized compensation expense related to stock options 0   $ 0  
Aggregate intrinsic value of stock options exercised     308,000 1,038,000
Cash receipts of stock options exercised     $ 105,000 $ 953,000
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock option term     10 years  
Stock options vesting percentage     100.00%  
Stock Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period     1 year  
Stock Options | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period     2 years  
RSAs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period     3 years  
Unrecognized compensation expense related to RSAs 5,431,000   $ 5,431,000  
Unrecognized compensation expense expected recognition period     1 year 6 months 14 days  
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense related to stock options 0   $ 0  
Grant date fair value of ESPP options $ 25,000