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Stockholders' Equity - Common Stock Warrants (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Jun. 30, 2016 | Feb. 29, 2016
Class of Warrant or Right [Line Items] |  |  |  |  |
Stock-based compensation expense | $ 12,821 | $ 5,061 | $ 2,997 |  |
Warrants to purchase common stock |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |
Warrants outstanding (in shares) | 1,419,415 | 1,607,864 |  |  |
Warrants exercised (in shares) | 188,449 | 482,661 |  |  |
Warrants exercised, shares issued (in shares) | 177,854 | 441,307 |  |  |
Warrants cancelled (in shares) |  | 69,114 |  |  |
Stock-based compensation expense | $ 0 | $ 0 | $ 300 |  |
Warrants to purchase common stock | Weighted Average |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |
Exercise price (in dollars per share) | $ 1.73 | $ 1.59 |  |  |
Warrants to purchase common stock, issued February 2016 |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |
Shares issued upon the exercise of warrants (in shares) |  |  |  |  | 71,280
Exercise price (in dollars per share) |  |  |  | $ 1.41 | $ 0.86
Warrants, term |  |  |  |  | 5 years
Warrants to purchase common stock, issued June 2016 |  |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |  |
Shares issued upon the exercise of warrants (in shares) |  |  |  | 69,114 |
Warrants, term |  |  |  | 5 years |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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