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Common Stock (Details) $ / shares in Units, $ in Thousands |  |  | 12 Months Ended
--- | --- | --- | ---
Nov. 03, 2020 USD ($) shares | Oct. 05, 2020 USD ($) trading_day $ / shares shares | Dec. 31, 2020 USD ($) shares | Dec. 31, 2019 USD ($) | Dec. 31, 2018 USD ($)
Subsequent Event [Line Items] |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  | 47,000 |  |
Proceeds from exercise of stock options | $ |  |  | $ 675 | $ 1,433 | $ 860
Public Offering |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |
Number of shares issued in transaction (in shares) |  | 3,350,000 |  |  |
Sale of stock (in dollars per share) | $ / shares |  | $ 38.00 |  |  |
Sale of stock, consideration received on transaction | $ |  | $ 121,800 |  |  |
Over-Allotment Option |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |
Number of shares issued in transaction (in shares) |  | 502,500 |  |  |
Sale of stock (in dollars per share) | $ / shares |  | $ 38.00 |  |  |
Number of days available to purchase additional shares | trading_day |  | 30 |  |  |
Issuance of common stock upon the exercise of stock options (in shares) | 266,022 |  |  |  |
Proceeds from exercise of stock options | $ | $ 9,600 |  |  |  |

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