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Income Taxes - Provision Difference from Federal Statutory Rate (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Effective tax rate of provision for income taxes difference from federal statutory rate      
Federal statutory income tax rate (as a percent) 21.00% 21.00% 21.00%
State taxes, net of federal benefit (as a percent) 1.90% 1.20% 7.00%
Research and development credits (as a percent) 6.50% 4.30% (1.30%)
Foreign tax rate difference (as a percent) (0.90%) 0.70% 0.40%
Change in valuation allowance (as a percent) (34.30%) (23.80%) (22.20%)
Other (as a percent) 3.80% (2.50%) (2.90%)
Provision (benefit) for income taxes (2.00%) 0.90% 2.00%