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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2020
Dec. 31, 2019
Stockholders' equity (deficit):    
Temporary equity, par value (in dollars per share) $ 0.01 $ 0.01
Temporary equity, shares authorized (in shares) 5,000,000 5,000,000
Temporary equity, shares outstanding (in shares) 118,805 0
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, authorized (in shares) 198,805,000 80,000,000
Common stock, issued (in shares) 27,912,059 27,912,059
Common stock, outstanding (in shares) 24,899,932 24,904,485
Treasury stock (in shares) 3,012,127 3,007,574