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Income Taxes - Income Tax (Provision) for Federal Statutory Corporate Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Income Taxes
Tax benefit at federal statutory rate	$ 1,244	$ 1,754
State income tax benefit (provision), net of federal benefit	244	318
Research and development tax credits	272	290
Foreign earnings or losses taxed at different rates	(38)	(27)
Tax rate change	2,720	(31)
Other	(615)	67
Change in valuation allowance	2,602	(2,427)
Tax provision	$ 6,429	$ (56)

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