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Stock-based Compensation - Restricted Stock (Details) - Restricted Stock Units
3 Months Ended
Mar. 31, 2017
$ / shares
shares
Outstanding RSUs and RSAs  
Beginning balance (in shares) | shares 587,333
Granted (in shares) | shares 84,299
Released (in shares) | shares (22,776)
Canceled (in shares) | shares (37,665)
Ending balance (in shares) | shares 611,191
Outstanding and expected to vest (in shares) | shares 454,889
Weighted Average Fair Value  
Beginning balance (usd per share) | $ / shares $ 28.85
Granted (usd per share) | $ / shares 36.25
Released (usd per share) | $ / shares 25.86
Canceled (usd per share) | $ / shares 32.87
Ending balance (usd per share) | $ / shares 29.74
Outstanding and expected to vest (usd per share) | $ / shares $ 29.64