"Large" age gap?

So I dated a guy for a little bit (when we met he was 19 and I had just turned 16) and we didn't get too far, mostly just over the pants stuff. Things got kinda strange and complicated but long and interesting story short we're planning on rekindling things. I'll be 17 in July and he turned 20 in March. I know this isn't legal yet but I'm not too concerned about anyone getting upset or angry and turning the other in. Other than the legal side of it, is this an acceptable age gap? I just want to know outside opinions before I start "going places" with him.