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Employee Plans - Summary of Information Regarding the Common Shares Issued Under the ESPP (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Employee Service Share Based Compensation Aggregate Disclosures [Abstract]      
Shares issued 48,131 75,414 68,286
Issuance price ranges, Minimum $ 59.56 $ 47.80 $ 52.79
Issuance price ranges, Maximum $ 72.91 $ 57.09 $ 58.06
Issuance proceeds $ 3,116 $ 3,879 $ 3,744