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Share-Based Compensation - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of average closing price to be paid by employees     85.00%  
Maximum common stock purchases through advance payroll deductions in a calendar year     $ 25,000  
Share-based compensation $ 1,062,000 $ 891,000 $ 2,887,000 $ 2,546,000
Forfeiture rate     1.70%  
Unrecognized compensation expense related to stock options 0   $ 0  
Aggregate intrinsic value of stock options exercised     355,000 1,203,000
Cash receipts of stock options exercised     $ 121,000 $ 1,093,000
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock option term     10 years  
Stock options vesting percentage     100.00%  
Stock Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period     1 year  
Stock Options | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period     2 years  
RSAs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vested period     3 years  
Unrecognized compensation expense related to RSAs 8,560,000   $ 8,560,000  
Unrecognized compensation expense expected recognition period     1 year 9 months 25 days  
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense related to stock options 0   $ 0  
Grant date fair value of ESPP options $ 36,000