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The Company and Summary of Significant Accounting Policies - Revenue Recognition (Details) | 3 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Dec. 31, 2020 USD ($) | Dec. 31, 2020 USD ($) segment | Dec. 31, 2019 USD ($) subsidiary
Revenue Recognition |  |  |
Number of consolidated subsidiaries | subsidiary |  |  | 1
Accounts receivable | $ 24,558,000 | $ 24,558,000 | $ 19,031,000
Accrued liabilities | 15,995,000 | 15,995,000 | 11,681,000
Revenue |  |  |
Contract liabilities | (374,000) | (374,000) | $ (396,000)
Amounts included in contract balances | $ 9,000 | $ 251,000 |
Number of operating segments | segment |  | 1 |
Revenue, Practical Expedient, Incremental Cost of Obtaining Contract |  | true |
Revenue, Practical Expedient, Financing Component |  | true |
Revenue, Practical Expedient, Remaining Performance Obligation |  | true |
Maximum |  |  |
Revenue Recognition |  |  |
Sales commissions benefit period |  | 1 year |

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