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Stock-Based Compensation - Stock options by exercise price range (Details) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Stock options outstanding (in shares) 6,589 34,123 143,224 216,859
Outstanding options, weighted-average exercise price (in dollars per share) $ 19.99 $ 14.69 $ 9.13 $ 8.80
Outstanding options, weighted-average remaining contractual life (Year) 2 years 10 months 24 days      
Stock options exercisable (in shares) 6,214      
Exercisable options, weighted-average exercise price (in dollars per share) $ 18.18      
Range 1        
Outstanding options, exercise price range, lower limit (in dollars per share) 5.76      
Outstanding options, exercise price range, upper limit (in dollars per share) 10.72      
Range 2        
Outstanding options, exercise price range, lower limit (in dollars per share) 10.73      
Outstanding options, exercise price range, upper limit (in dollars per share) $ 11.40      
Stock options outstanding (in shares) 5,089      
Outstanding options, weighted-average exercise price (in dollars per share) $ 11.17      
Outstanding options, weighted-average remaining contractual life (Year) 1 year 10 months 17 days      
Stock options exercisable (in shares) 5,089      
Exercisable options, weighted-average exercise price (in dollars per share) $ 11.17      
Range 3        
Outstanding options, exercise price range, lower limit (in dollars per share) 11.41      
Outstanding options, exercise price range, upper limit (in dollars per share) 24.86      
Range 4        
Outstanding options, exercise price range, lower limit (in dollars per share) 24.87      
Outstanding options, exercise price range, upper limit (in dollars per share) $ 49.91      
Stock options outstanding (in shares) 1,500      
Outstanding options, weighted-average exercise price (in dollars per share) $ 49.91      
Outstanding options, weighted-average remaining contractual life (Year) 6 years 4 months 9 days      
Stock options exercisable (in shares) 1,125      
Exercisable options, weighted-average exercise price (in dollars per share) $ 49.91