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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
Mar. 31, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, shares authorized 175,000,000 175,000,000
Common stock, shares issued 55,672,783 55,461,246
Common stock, shares outstanding 53,623,865 53,427,234
Treasury stock (in shares) 2,048,918 2,034,012