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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2020
Class of Stock Disclosures [Abstract]  
Schedule of Common Stock Reserved for Future Issuance
The following common stock is reserved for future issuance at December 31
(1)
(in thousands):
 
    
2020
    
2019
  
Warrants issued and outstanding
      51       51  
Stock option awards issued and outstanding
      1,760       1,600  
Authorized for grants under the 2016 Equity Incentive Plan
      357
 (2)
 		     401  
Authorized for grants under the 2016 Employee Stock Purchase Plan
      256
 (3)
 		     186  
    
 
 
    
 
 
  
       2,424       2,238  
    
 
 
    
 
 
  
 
(1)
 
Treasury stock in the amount of 534,000 and 465,000 as of December 31, 2020 and 2019, respectively, are excluded from the table above.
(2)
 
On January 1, 2020, the number of authorized shares in the 2016 Equity Incentive Plan increased by 387,000 shares pursuant to the evergreen provisions of the 2016 Equity Incentive Plan.
(3)
 
On January 1, 2020, the number of authorized shares in the 2016 Employee Stock Purchase Plan increased by 97,000 shares pursuant to the evergreen provisions of the 2016 Employee Stock Purchase Plan.