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Stock Plans and Stock-Based Compensation - Schedule of Vested and Nonvested Stock Option Activity (Details)	9 Months Ended
	Sep. 30, 2021 $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Options outstanding, Vested \| shares	147,478
Weighted average exercise price, Vested \| $ / shares	$ 21.38
Options outstanding, Nonvested \| shares	18,754
Weighted average exercise price, Nonvested \| $ / shares	$ 41.22