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Stockholders' Equity - Schedule of Share Repurchases (Details) - Common stock
$ / shares in Units, $ in Thousands
9 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Class of Stock [Line Items]  
Remaining repurchase authorization | $ $ 13,669
Share repurchase program  
Class of Stock [Line Items]  
Number of shares purchased | shares 528,662
Average price per share (in dollars per share) | $ / shares $ 5.45