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Stock Plans - Option Vesting (Details) - Stock options
12 Months Ended
Dec. 31, 2017
2000 Plan | First Anniversary  
Stockholder's Equity  
Percentage of awards vesting 25.00%
2000 Plan | Monthly vesting after first anniversary  
Stockholder's Equity  
Percentage of awards vesting 2.10%
2006 Plan | First Anniversary  
Stockholder's Equity  
Percentage of awards vesting 25.00%
2006 Plan | Monthly vesting after first anniversary  
Stockholder's Equity  
Percentage of awards vesting 2.10%
2015 Plan | First Anniversary  
Stockholder's Equity  
Percentage of awards vesting 25.00%
2015 Plan | Monthly vesting after first anniversary  
Stockholder's Equity  
Percentage of awards vesting 2.10%
2010 Plan | Second Anniversary  
Stockholder's Equity  
Percentage of awards vesting 50.00%
2010 Plan | Monthly vesting after second anniversary  
Stockholder's Equity  
Percentage of awards vesting 2.10%
2000 and 2006 Stock incentive plans | First Anniversary  
Stockholder's Equity  
Percentage of awards vesting 25.00%
2000 and 2006 Stock incentive plans | Monthly vesting after first anniversary  
Stockholder's Equity  
Percentage of awards vesting 2.10%