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401(k) Plan and ESPP - Employee Stock Purchase Plan (Details) - USD ($) $ in Millions | Dec. 31, 2020 | Oct. 29, 2019
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Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Common stock shares reserved for issuance (in shares) | 1,596,323 |
Value of rights granted | $ 1.1 |
Employee stock |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Common stock shares reserved for issuance (in shares) |  | 1,700,000

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