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Consolidated Balance Sheets (Unaudited) (Parenthetical) - $ / shares
Sep. 30, 2019
Dec. 31, 2018
Statement of Financial Position [Abstract]    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, authorized 5,000,000 5,000,000
Preferred stock, issued 0 0
Preferred stock, outstanding 0 0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, authorized 95,000,000 95,000,000
Common stock, issued 25,498,115 25,473,115
Common stock, outstanding 24,784,625 24,968,256
Treasury stock, shares 713,490 504,859