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Stock Incentive Plans (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of common stock authorized (in shares) 10,000,000   10,000,000  
Option expiration period     10 years  
Stock-based compensation expense $ 7,290 $ 7,662 $ 14,373 $ 15,192
Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period     3 years  
Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period     5 years