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Basis of Presentation and Summary of Significant Accounting Policies - Net Loss per Share (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Options        
Impairment Effects on Earnings Per Share [Line Items]        
Securities excluded from net loss per share calculation (less than for options in the three months ended June 30, 2020) (in shares) 57,000 35,000 69,000 1,000
Restricted share units        
Impairment Effects on Earnings Per Share [Line Items]        
Securities excluded from net loss per share calculation (less than for options in the three months ended June 30, 2020) (in shares) 9,000 7,000 3,000 4,000
Warrants        
Impairment Effects on Earnings Per Share [Line Items]        
Securities excluded from net loss per share calculation (less than for options in the three months ended June 30, 2020) (in shares) 49,000 53,000 77,000 0
Convertible securities        
Impairment Effects on Earnings Per Share [Line Items]        
Securities excluded from net loss per share calculation (less than for options in the three months ended June 30, 2020) (in shares) 175,000 533,000 346,000 506,000