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Stock Plans and Stock-Based Compensation - Schedule of Vested and Nonvested Stock Option Activity (Details)
9 Months Ended
Sep. 30, 2020
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Options outstanding, Vested | shares 155,028
Weighted average exercise price, Vested | $ / shares $ 21.06
Options outstanding, Nonvested | shares 282,116
Weighted average exercise price, Nonvested | $ / shares $ 31.47