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Equity Incentive Plans - Compensation Expense Recorded in the Consolidated Statement of Operations (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Compensation expense | $ 7,012 | $ 3,674 | $ 20,822 | $ 10,077
RSUs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Compensation expense | 2,843 | 2,876 | 9,153 | 9,141
PSUs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Compensation expense | $ 4,009 | $ 634 | $ 11,178 | $ 444

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