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Stock Based Compensation - Stock-based Compensation Expense Recognized (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Stock Based Compensation      
Total stock-based compensation expense $ 23,757 $ 1,237 $ 6,680
Research and development      
Stock Based Compensation      
Total stock-based compensation expense 6,110 181 361
Sales and marketing      
Stock Based Compensation      
Total stock-based compensation expense 4,505 111 114
General and administrative      
Stock Based Compensation      
Total stock-based compensation expense $ 13,142 $ 945 $ 6,205