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Consolidated Balance Sheets (Parenthetical) - $ / shares
shares in Thousands
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Liquidation preference (in dollars per share) $ 25.00 $ 25.00
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 200,000 200,000
Common stock, shares issued (in shares) 73,967 77,810
Common stock, shares outstanding (in shares) 73,967 77,810