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Stock-Based Compensation Expense - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2020
USD ($)
$ / shares
shares
Shares  
Outstanding, Beginning balance (in shares) | shares 2,705,458
Granted (in shares) | shares 0
Exercised (in shares) | shares (284,962)
Forfeited/canceled (in shares) | shares (16,484)
Outstanding, Ending balance (in shares) | shares 2,404,012
Vested and exercisable (in shares) | shares 2,171,711
Weighted Average Exercise Price  
Outstanding, Beginning balance (in dollars per share) | $ / shares $ 10.18
Granted (in dollars per share) | $ / shares 0
Exercised (in dollars per share) | $ / shares 13.10
Forfeited/canceled (in dollars per share) | $ / shares 17.01
Outstanding, Ending balance (in dollars per share) | $ / shares 9.79
Vested and exercisable (in dollars per share) | $ / shares $ 9.20
Weighted Average Remaining Contractual Life (in years)  
Outstanding 4 years 6 months
Vested and exercisable 4 years 3 months 18 days
Aggregate Intrinsic Value  
Exercised | $ $ 10,137
Outstanding | $ 99,113
Vested and exercisable | $ $ 90,811