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Stockholders' Equity and Stock Plans - Options Outstanding by Price Range (Details) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 417,382 425,700 517,936
Stock Options Outstanding, Remaining Contractual Life 5 years 6 months 5 years 10 months 6 days 5 years 4 months 2 days
Weighted Average Exercise Price (in dollars per share) $ 28.01 $ 25.01 $ 20.42
$10.01 - $20.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Range of Exercise Prices, Lower Limit (in dollars per share) 10.01    
Range of Exercise Prices, Upper Limit (in dollars 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 (in dollars per share) 20.01    
Range of Exercise Prices, Upper Limit (in dollars 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 (in dollars per share) 30.01    
Range of Exercise Prices, Upper Limit (in dollars 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 (in dollars per share) 40.01    
Range of Exercise Prices, Upper Limit (in dollars per share) $ 50.00    
Stock options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 417,382    
Stock Options Outstanding, Remaining Contractual Life    
Stock Options Exercisable (in shares) 333,870    
Stock options | $10.01 - $20.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 84,618    
Stock Options Outstanding, Remaining Contractual Life 1 year 9 months 18 days    
Weighted Average Exercise Price (in dollars per share) $ 18.63    
Stock Options Exercisable (in shares) 84,618    
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 18.63    
Stock options | $20.01 - $30.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 166,454    
Stock Options Outstanding, Remaining Contractual Life 4 years 9 months 18 days    
Weighted Average Exercise Price (in dollars per share) $ 23.88    
Stock Options Exercisable (in shares) 166,454    
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 23.88    
Stock options | $30.01 - $40.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 114,976    
Stock Options Outstanding, Remaining Contractual Life 7 years 8 months 12 days    
Weighted Average Exercise Price (in dollars per share) $ 33.89    
Stock Options Exercisable (in shares) 69,384    
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 33.88    
Stock options | $40.01 - $50.00      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock Options Outstanding (in shares) 51,334    
Stock Options Outstanding, Remaining Contractual Life 8 years 10 months 24 days    
Weighted Average Exercise Price (in dollars per share) $ 43.71    
Stock Options Exercisable (in shares) 13,414    
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 41.61