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Debt - Narrative (Details) |  | 12 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Apr. 21, 2020 USD ($) | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 USD ($) shares | Dec. 31, 2018 USD ($) | Feb. 25, 2021 USD ($) | Jan. 14, 2021 USD ($) | May 06, 2019 shares | May 05, 2019 $ / shares shares
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Maximum annual dividend payment | $ 10,000,000.0 |  |  |  |  |  |  |
Debt issuance costs |  | $ 0 | $ 431,000 |  |  |  |  |
Amortization of debt issuance costs |  | $ 256,000 | $ 181,000 | $ 109,000 |  |  |  |
Warrants outstanding (in shares) | shares |  | 0 | 0 |  |  |  |  |
Repayments on revolving credit facility |  | $ 25,000,000 | $ 0 | 0 |  |  |  |
Series B |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Number of warrants issued (in shares) | shares |  | 121,694 |  |  |  |  |  | 121,694
Exercise price (in dollars per share) | $ / shares |  | $ 1.07 |  |  |  |  |  | $ 1.07
Series E |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Number of warrants issued (in shares) | shares |  | 39,073 |  |  |  |  |  | 39,073
Exercise price (in dollars per share) | $ / shares |  | $ 3.68 |  |  |  |  |  | $ 3.68
Common Stock | IPO |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Number of warrants issued (in shares) | shares |  |  |  |  |  |  | 160,767 |
Prepaid and Other Current Assets |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Debt issuance costs |  | $ 1,100,000 |  |  |  |  |  |
Letter of credit | Subsequent Event |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Maximum borrowing capacity |  |  |  |  |  | $ 12,500,000 |  |
Line of Credit |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Early termination fee amount | 1,200,000 |  |  |  |  |  |  |
Interest expense |  | 2,100,000 | 2,200,000 | 900,000 |  |  |  |
Line of Credit | Revolving credit facility |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Debt, face amount | $ 150,000,000.0 |  |  |  |  |  |  |
Debt term | 5 years |  |  |  |  |  |  |
Maximum additional borrowing capacity | $ 200,000,000.0 |  |  |  |  |  |  |
Unused commitment fee | 0.375% |  |  |  |  |  |  |
Maximum leverage ratio | 3.00 |  |  |  |  |  |  |
Minimum fixed charge coverage ratio | 1.25 |  |  |  |  |  |  |
Debt, outstanding balance |  | 25,000,000 | 0 |  |  |  |  |
Available borrowing capacity |  | $ 0 |  |  |  |  |  |
Interest rate |  | 3.50% |  |  |  |  |  |
Line of Credit | Revolving credit facility | Subsequent Event |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Debt, outstanding balance |  |  |  |  | $ 0 |  |  |
Line of Credit | Revolving credit facility | Alternate Base Rate | Minimum |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Variable annual interest rate | 1.25% |  |  |  |  |  |  |
Line of Credit | Revolving credit facility | Alternate Base Rate | Maximum |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Variable annual interest rate | 1.75% |  |  |  |  |  |  |
Line of Credit | Revolving credit facility | LIBOR | Minimum |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Variable annual interest rate | 2.25% |  |  |  |  |  |  |
Line of Credit | Revolving credit facility | LIBOR | Maximum |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Variable annual interest rate | 2.75% |  |  |  |  |  |  |
Line of Credit | Revolving credit facility | SVB Credit Facilities |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Debt, outstanding balance |  | $ 0 | 6,000,000 |  |  |  |  |
Line of Credit | Equipment financing loan |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Interest expense |  | 200,000 | 600,000 | $ 200,000 |  |  |  |
Debt, outstanding balance |  | 0 | 5,000,000 |  |  |  |  |
Line of Credit | Term loan facility |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Debt, outstanding balance |  | $ 0 | $ 20,000,000 |  |  |  |  |
Line of Credit | SVB Credit Facilities | Common Stock |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Number of warrants issued (in shares) | shares |  | 60,002 |  |  |  |  |  | 60,002
Exercise price (in dollars per share) | $ / shares |  | $ 3.00 |  |  |  |  |  | $ 3.00

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