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Income Taxes - Reconciliation of the Beginning and Ending Amount of Gross Unrecognized Tax Benefits (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Beginning balance	$ 4,950,000	$ 4,318,000	$ 3,395,000
Increases for current year tax positions	839,000	637,000	642,000
Decreases for prior year tax positions		(5,000)
Increases for prior year tax positions	337,000		281,000
Ending balance	6,126,000	4,950,000	4,318,000
Gross unrecognized tax benefits	6,100,000	4,900,000
Unrecognized interest or penalties	$ 0	$ 0	$ 0

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- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 45
-Paragraph 10B
-URI http://asc.fasb.org/extlink&oid=120406818&loc=SL37586934-109318

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
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-Section 50
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- Definition

Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
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- Definition

Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
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Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

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Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate.

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-Publisher FASB
-Name Accounting Standards Codification
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