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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