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Stock Based Compensation - Summary of Outstanding Stock Option Activity (Details)
9 Months Ended
Sep. 30, 2020
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Number of shares, Beginning balance | shares 1,600,000
Number of shares, Granted | shares 402,000
Number of shares, Exercised | shares (105,000)
Number of shares, Expired/Forfeited | shares (105,000)
Number of shares, Ending balance | shares 1,792,000
Number of shares, Vested and exercisable | shares 947,000
Number of shares, Vested and expected to vest | shares 1,792,000
Weighted average exercise price, Beginning balance | $ / shares $ 9.98
Weighted average exercise price, Granted | $ / shares 10.05
Weighted average exercise price, Exercised | $ / shares 8.24
Weighted average exercise price, Expired/Forfeited | $ / shares 10.42
Weighted average exercise price, Ending balance | $ / shares 10.07
Weighted average exercise price, Vested and exercisable | $ / shares 9.27
Weighted average exercise price, Vested and expected to vest | $ / shares $ 10.07
Weighted average remaining contractual term (years) 7 years 9 months 18 days
Weighted average remaining contractual term (years), Vested and exercisable 6 years 10 months 24 days
Weighted average remaining contractual term (years), Vested and expected to vest 7 years 9 months 18 days