Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details)

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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 3,239 $ 1,277 $ 5,755 $ 4,061
Stock Option Plan Awards        
Stock-based compensation expense by type of award:        
Stock-based compensation expense   184   709
Restricted stock units and restricted stock awards        
Stock-based compensation expense by type of award:        
Stock-based compensation expense 3,053 892 5,383 2,975
Employee Stock Purchase Plan        
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 186 $ 201 $ 372 $ 377