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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2018
Dec. 31, 2017
Stockholders' equity:    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, authorized (in shares) 100,000,000 100,000,000
Common stock, shares issued (in shares) 39,506,067 40,212,477
Common stock, outstanding (in shares) 39,506,067 40,212,477