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Statements of Stockholders' Equity (Unaudited) (Parenthetical) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Statement of Stockholders' Equity [Abstract]      
Exercise of stock options, net of cashless exercise of shares 8,958 58,122 11,409
Exercise of stock options, net of cashless exercise shares withheld   92,634