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Stock Plans and Stock-Based Compensation - Schedule of Vested and Nonvested Stock Option Activity (Details)
3 Months Ended
Mar. 31, 2020
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Options outstanding, Vested | shares 176,160
Weighted average exercise price, Vested | $ / shares $ 19.21
Options outstanding, Nonvested | shares 418,601
Weighted average exercise price, Nonvested | $ / shares $ 30.46