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Equity Incentive Plans - Options by Exercise Price (Details)
12 Months Ended
Dec. 31, 2020
$ / shares
shares
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Options outstanding, number outstanding (in shares) | shares 1,951
Options outstanding, Wtd. Avg. remaining contractual life 6 years 7 months 13 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 22.07
Options exercisable, Number exercisable (in shares) | shares 1,051
Options exercisable Wtd. Avg. Remaining Contractual Life 5 years 1 month 17 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 24.53
0-18.23  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 0
Upper range limit, Exercise price (in dollars per share) $ 18.23
Options outstanding, number outstanding (in shares) | shares 552
Options outstanding, Wtd. Avg. remaining contractual life 7 years 6 months 3 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 14.62
Options exercisable, Number exercisable (in shares) | shares 109
Options exercisable Wtd. Avg. Remaining Contractual Life 8 months 26 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 14.53
18.24-22.26  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 18.24
Upper range limit, Exercise price (in dollars per share) $ 22.26
Options outstanding, number outstanding (in shares) | shares 588
Options outstanding, Wtd. Avg. remaining contractual life 6 years 1 month 13 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 20.99
Options exercisable, Number exercisable (in shares) | shares 417
Options exercisable Wtd. Avg. Remaining Contractual Life 5 years 7 months 17 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 20.74
22.27-29.39  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 22.27
Upper range limit, Exercise price (in dollars per share) $ 29.39
Options outstanding, number outstanding (in shares) | shares 495
Options outstanding, Wtd. Avg. remaining contractual life 6 years 6 months 18 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 25.11
Options exercisable, Number exercisable (in shares) | shares 272
Options exercisable Wtd. Avg. Remaining Contractual Life 5 years 2 months 19 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 27.11
29.40-50.00  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 29.4
Upper range limit, Exercise price (in dollars per share) $ 50.00
Options outstanding, number outstanding (in shares) | shares 316
Options outstanding, Wtd. Avg. remaining contractual life 6 years 1 month 13 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 32.27
Options exercisable, Number exercisable (in shares) | shares 253
Options exercisable Wtd. Avg. Remaining Contractual Life 6 years 1 month 9 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 32.27