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Income Taxes - Schedule of unrecognized tax benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]    
Gross unrecognized tax benefits at the beginning of the year $ 3,336 $ 1,846
Increases related to current year positions 2,063 1,695
Increases/Decreases related to prior year positions 0 (205)
Gross unrecognized tax benefits at the end of the year $ 5,399 $ 3,336