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Summary of Significant Accounting Policies - Summary of Potentially Dilutive Securities (Details) - shares
shares in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Options to purchase common stock        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Options to purchase common stock (in shares) 3,800 2,838 3,624 2,930