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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2020
Dec. 31, 2019
Class A Common Stock    
Par value per share (in dollars per share) $ 0.0003 $ 0.0003
Shares authorized (in shares) 400,000,000 400,000,000
Shares issued (in shares) 188,603,686 188,289,680
Shares outstanding (in shares) 188,603,686 188,289,680
Class B Convertible Common Stock    
Par value per share (in dollars per share) $ 0.0003 $ 0.0003
Shares authorized (in shares) 34,450,000 34,450,000
Shares issued (in shares) 34,450,000 34,450,000
Shares outstanding (in shares) 34,450,000 34,450,000
Class C Common Stock    
Par value per share (in dollars per share) $ 0.0003 $ 0.0003
Shares authorized (in shares) 400,000,000 400,000,000
Shares issued (in shares) 231,953,667 229,027,730
Shares outstanding (in shares) 231,953,667 229,027,730