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Stock Plans and Stock-Based Compensation - Schedule of Vested and Nonvested Stock Option Activity (Details)	12 Months Ended
	Dec. 31, 2019 $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Options outstanding, Vested \| shares	231,344
Weighted average exercise price, Vested \| $ / shares	$ 19.31
Options outstanding, Nonvested \| shares	492,039
Weighted average exercise price, Nonvested \| $ / shares	$ 29.97