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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
Sep. 30, 2018
Dec. 31, 2017
Statement of Financial Position [Abstract]    
Common Stock, par value $ 0.001 $ 0.001
Common Stock, shares authorized 100,000,000 100,000,000
Common Stock, shares issued 47,999,384 47,370,945
Common stock, shares outstanding (in shares) 31,920,534 33,249,665
Treasury Stock, shares 16,078,850 14,121,280