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Stock Based Compensation - Summary of Outstanding Stock Option Activity (Details)
shares in Thousands
3 Months Ended
Mar. 31, 2021
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Number of shares, Beginning balance | shares 1,760
Number of shares, Granted | shares 431
Number of shares, Exercised | shares (144)
Number of shares, Expired/Forfeited | shares (11)
Number of shares, Ending balance | shares 2,036
Number of shares, Vested and exercisable | shares 1,028
Number of shares, Vested and expected to vest | shares 2,036
Weighted average exercise price, Beginning balance | $ / shares $ 10.07
Weighted average exercise price, Granted | $ / shares 23.35
Weighted average exercise price, Exercised | $ / shares 11.45
Weighted average exercise price, Expired/Forfeited | $ / shares 11.94
Weighted average exercise price, Ending balance | $ / shares 12.77
Weighted average exercise price, Vested and exercisable | $ / shares 9.35
Weighted average exercise price, Vested and expected to vest | $ / shares $ 12.77
Weighted average remaining contractual term (years) 7 years 9 months 18 days
Weighted average remaining contractual term (years), Vested and exercisable 6 years 9 months 18 days
Weighted average remaining contractual term (years), Vested and expected to vest 7 years 9 months 18 days