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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 32,000,000 32,000,000
Common stock, shares issued (in shares) 21,964,809 21,743,498
Common stock, shares outstanding (in shares) 21,964,809 21,743,498