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Consolidated Statements of Stockholders' Equity (Deficit) (Parentheticals) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Common Stock [Member]      
Exercise of stock options, shares (in shares) 1,106   351
Employee stock purchase plan sales, shares (in shares) 92 95 75
Issuance of common stock, shares (in shares) 10,455 23,925