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Stockholders' Equity and Stock Plans - Non-vested Awards Activity (Details) - Restricted Stock Awards - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Number of Shares    
Non-vested awards, beginning balance (in shares) 87,388 91,216
Granted (in shares) 29,110 37,040
Vested (in shares) (28,099) (28,812)
Forfeited (in shares) (18,333) (12,056)
Non-vested awards, ending balance (in shares) 70,066 87,388
Weighted Average Grant-Date Fair Value    
Non-vested awards, beginning balance (in dollars per share) $ 31.26 $ 28.16
Granted (in dollars per share) 44.45 33.58
Vested (in dollars per share) 27.88 26.06
Forfeited (in dollars per share) 32.34 27.32
Non-vested awards, ending balance (in dollars per share) $ 37.81 $ 31.26