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Stockholders' Equity and Stock Plans - Options Outstanding by Price Range (Details) - $ / shares
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 425,700 517,936 363,578
Stock Options Outstanding, Remaining Contractual Life 5 years 10 months 6 days 5 years 4 months 2 days 5 years 9 months 7 days
Weighted Average Exercise Price (usd per share) $ 25.01 $ 20.42 $ 20.60
$0.00 - $10.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Range of Exercise Prices, Lower Limit (usd per share) 0.00    
Range of Exercise Prices, Upper Limit (usd per share) 10.00    
$10.01 - $20.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Range of Exercise Prices, Lower Limit (usd per share) 10.00    
Range of Exercise Prices, Upper Limit (usd per share) 20.00    
$20.01 - $30.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Range of Exercise Prices, Lower Limit (usd per share) 20.01    
Range of Exercise Prices, Upper Limit (usd per share) 30.00    
$30.01 - $40.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Range of Exercise Prices, Lower Limit (usd per share) 30.01    
Range of Exercise Prices, Upper Limit (usd per share) 40.00    
$40.01 - $50.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Range of Exercise Prices, Lower Limit (usd per share) 40.01    
Range of Exercise Prices, Upper Limit (usd per share) $ 50.00    
Stock options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 425,700    
Stock Options Outstanding, Remaining Contractual Life    
Stock Options Exercisable (in shares) 311,050    
Stock options | $0.00 - $10.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 4,604    
Stock Options Outstanding, Remaining Contractual Life 3 years 1 month 6 days    
Weighted Average Exercise Price (usd per share) $ 8.96    
Stock Options Exercisable (in shares) 4,604    
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 8.96    
Stock options | $10.01 - $20.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 110,394    
Stock Options Outstanding, Remaining Contractual Life 2 years 3 months 18 days    
Weighted Average Exercise Price (usd per share) $ 16.94    
Stock Options Exercisable (in shares) 110,394    
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 16.94    
Stock options | $20.01 - $30.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 179,828    
Stock Options Outstanding, Remaining Contractual Life 6 years    
Weighted Average Exercise Price (usd per share) $ 23.73    
Stock Options Exercisable (in shares) 151,808    
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 23.63    
Stock options | $30.01 - $40.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 127,040    
Stock Options Outstanding, Remaining Contractual Life 8 years 9 months 18 days    
Weighted Average Exercise Price (usd per share) $ 33.94    
Stock Options Exercisable (in shares) 40,410    
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 33.78    
Stock options | $40.01 - $50.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 3,834    
Stock Options Outstanding, Remaining Contractual Life 9 years 6 months    
Weighted Average Exercise Price (usd per share) $ 40.70    
Stock Options Exercisable (in shares) 3,834    
Stock Options Exercisable, Weighted Average Exercise Price (usd per share) $ 40.70