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Stock-based Compensation - Schedule of Fair Value Assumptions for Employee Stock Purchase Plan (Details) - Shares available for issuance under the ESPP
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expected term (in years) 6 months 7 months 6 days
Risk-free interest rate 0.10% 1.80%
Expected volatility 59.70% 35.50%
Dividend yield 0.00% 0.00%