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Common Stock, Preferred Stock and Equity Plans - Stock and Option Plans (Details) - shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards outstanding (shares) 10,229,110    
Additional awards authorized for grant (shares) 15,778,703    
2013 Stock and Option Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards outstanding (shares) 9,577,268    
Additional awards authorized for grant (shares) 15,778,703    
Additional shares authorized (shares) 5,000,000 8,000,000 6,750,000
2006 Stock and Option Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Awards outstanding (shares) 651,842    
Additional awards authorized for grant (shares) 0    
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period 10 years