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Cash and Cash Equivalents and Investments (Tables)
9 Months Ended
Sep. 30, 2021
Cash and Cash Equivalents and Investments [Abstract]  
Schedule of Cash, Cash Equivalents and Short-term Investments [Table Text Block]
 As of September 30, 2021
 Amortized CostGross Unrealized GainsGross Unrealized LossesEstimated Fair Value
 (in thousands)
Cash and cash equivalents$92,118 $— $— $92,118 
Securities maturing within one year:    
U.S. treasury securities15,123 — 15,124 
Corporate debt securities13,683 — (7)13,676 
Total short-term investments$28,806 $$(7)$28,800 
Total cash and cash equivalents and investments$120,924 $$(7)$120,918 
 As of December 31, 2020
 Amortized CostGross Unrealized GainsGross Unrealized LossesEstimated Fair Value
  (in thousands) 
Cash and cash equivalents$126,263 $— $— $126,263 
Securities maturing within one year:    
Corporate debt securities26,018 (11)26,012 
Total short-term investments$26,018 $$(11)$26,012 
Total cash and cash equivalents and investments
$152,281 $$(11)$152,275