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Stockholders' Equity - Stock Incentive Plan - General Information (Details) | 12 Months Ended
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Dec. 31, 2020 shares | Dec. 31, 2019 shares | Dec. 31, 2018 plan shares
Share-based Compensation Arrangement by Share-based Payment Award, Additional General Disclosures [Abstract] |  |  |
Number of stock-based compensation plans | plan |  |  | 2
Incentive stock options and non-statutory stock options, exercise price to fair value of common stock, maximum (as a percent) | 100.00% | 100.00% | 100.00%
Shareholder stock options, exercise price to fair value of common stock, maximum (as a percent) | 110.00% | 110.00% | 110.00%
Unvested shares subject to repurchase (in shares) | shares | 0 | 0 | 0
Stock Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Additional General Disclosures [Abstract] |  |  |
Vesting period | 4 years | 4 years | 4 years
Term of award | 10 years | 10 years | 10 years

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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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