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Income Taxes - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Operating Loss Carryforwards [Line Items]        
Benefit recognized for net operating loss carryforwards $ 0      
Increase in valuation allowance 35,400,000 $ 22,000,000.0    
Net operating loss carryforwards, federal 368,200,000      
Net operating loss carryforwards, state 218,700,000      
Unrecognized income tax benefit 2,302,000 1,842,000 $ 1,459,000 $ 943,000
Unrecognized tax benefit 2,300,000 1,800,000 1,500,000  
Accrued interest and penalties 0 $ 0 $ 0  
Foreign Tax Authority        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforwards available to reduce future taxable income 6,900,000      
State        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforwards available to reduce future taxable income $ 3,100,000