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Share-Based Compensation - Narrative (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Apr. 01, 2021 | Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Percentage of average closing price to be paid by employees |  |  |  | 85.00% |
Maximum common stock purchases through advance payroll deductions in a calendar year |  |  |  | $ 25,000 |
Share-based compensation |  | $ 1,208,000 | $ 1,214,000 | $ 2,398,000 | $ 2,433,000
Forfeiture rate |  |  |  | 0.50% |
Unrecognized compensation expense related to stock options |  | 0 |  | $ 0 |
Aggregate intrinsic value of stock options exercised |  |  |  | 559,000 | 197,000
Cash receipts of stock options exercised |  |  |  | $ 198,000 | $ 83,000
Stock Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option term |  |  |  | 10 years |
Stock options vesting percentage |  |  |  | 100.00% |
Stock Options | Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vested period |  |  |  | 1 year |
Stock Options | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vested period |  |  |  | 2 years |
RSAs |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Vested period |  |  |  | 3 years |
Unrecognized compensation expense related to RSAs |  | 7,500,000 |  | $ 7,500,000 |
Unrecognized compensation expense expected recognition period |  |  |  | 1 year 9 months 14 days |
ESPP |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Unrecognized compensation expense related to stock options |  | $ 0 |  | $ 0 |
Grant date fair value of ESPP options | $ 40,000 |  |  |  |

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