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Stock Based Compensation - Summary of Outstanding Restricted Stock Unit Activity (Details) - Restricted Stock Unit (RSU)
shares in Thousands
3 Months Ended
Mar. 31, 2021
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Restricted stock units, Beginning balance | shares 202
Restricted stock units, Grants | shares 158
Restricted stock units, Vested and released | shares (61)
Restricted stock units, Ending balance | shares 299
Weighted average grant date fair value, Beginning balance | $ / shares $ 10.51
Weighted average grant date fair value, Grants | $ / shares 24.23
Weighted average grant date fair value, Vested and released | $ / shares 10.43
Weighted average grant date fair value, Ending balance | $ / shares $ 17.75