Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($) $ in Thousands |
3 Months Ended | |
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Mar. 31, 2021 |
Mar. 31, 2020 |
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| Stock-based compensation expense by type of award: | ||
| Stock-based compensation expense | $ 2,516 | $ 2,784 |
| Stock Option Plan Awards | ||
| Stock-based compensation expense by type of award: | ||
| Stock-based compensation expense | 525 | |
| Restricted stock units and restricted stock awards | ||
| Stock-based compensation expense by type of award: | ||
| Stock-based compensation expense | 2,330 | 2,083 |
| Employee Stock Purchase Plan | ||
| Stock-based compensation expense by type of award: | ||
| Stock-based compensation expense | $ 186 | $ 176 |
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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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