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Income Taxes - Reconciliation of the Federal Statutory Income Tax Rate to the Effective Income Tax Rate (Details) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Effective Income Tax Rate Continuing Operations Tax Rate Reconciliation [Abstract] |  |  |
U.S. Statutory rate | 21.00% | 21.00% | 34.00%
State income taxes, net of federal benefit | 3.70% | (3.73%) | 0.37%
Stock-based compensation | (0.81%) | (45.01%) | (30.40%)
Change in valuation allowance |  |  | (2.59%)
R&D credit, net of reserve | (8.97%) | (1.39%) | (1.43%)
Expiration of net operating losses |  |  | 2.76%
Effect of U.S tax law change |  |  | 25.55%
Other | (1.24%) | 0.98% | 0.92%
Effective income tax rate | 13.68% | (28.15%) | 29.18%

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- Definition Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 235 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.4-08.(h)(2)) -URI http://asc.fasb.org/extlink&oid=26873400&loc=d3e23780-122690 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32687-109319 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 13 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32698-109319 + Details
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