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Stock Plans and Stock-Based Compensation -Schedule of Stock-Based Compensation Expense (Parenthetical) (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Compensation expense:        
Total stock-based compensation expense $ 6,048 $ 5,404 $ 18,106 $ 14,049
Former Officer        
Compensation expense:        
Total stock-based compensation expense     $ (3,600)