Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation (Details)

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Stock-Based Compensation (Details) - shares
12 Months Ended
Jun. 22, 2010
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
May 01, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Maximum number of shares available for future issuance (in shares)   2,248,672      
U.S. federal corporate income tax rate   25.20% 25.10% 38.00%  
Target Incentive Awards          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   3 years      
Vested (in shares)   68,334 68,334 68,332  
Awards (in shares)   202,168 55,986    
Unvested restricted stock units and awards          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vested (in shares)   1,029,790 1,005,347 901,181  
Awards (in shares)   997,971 940,113 959,591  
2004 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based awards, contractual term   10 years      
2010 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based awards, contractual term 10 years        
Shares reserved for delivery (in shares) 2,700,000        
2012 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares authorized for issuance (in shares)   1,023,851      
2012 Plan | Target Incentive Awards          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares authorized for issuance (in shares)   559,551      
Unvested restricted stock, service condition period   2 years      
2012 Plan | Target Incentive Awards | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting rights   P3Y      
2012 Plan | Target Incentive Awards | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting rights   P5Y      
2012 Plan | Unvested restricted stock units and awards          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vested (in shares)     559,551    
2015 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares authorized for issuance (in shares)   1,058,807      
Awards (in shares)   0      
PIEtech Acquisition | Equity Plan | Restricted Stock Units and Performance Stock Units          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares authorized for issuance (in shares)         301,469
PIEtech Acquisition | Equity Plan | Restricted Stock Units and Performance Stock Units | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   3 years      
PIEtech Acquisition | Equity Plan | Restricted Stock Units and Performance Stock Units | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   5 years