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Stock-based Compensation - Employee Stock Purchase Plan (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2020
USD ($)
period
shares
Dec. 31, 2019
USD ($)
shares
Dec. 31, 2018
shares
Stock-based compensation      
Stock-based compensation expense | $ $ 13,966 $ 10,049  
2017 Employee Stock Purchase Plan      
Stock-based compensation      
Shares Authorized     223,341
Employee basic pay holding period 6 months    
Number of offering periods | period 2    
Percentage of market value at which employee may purchase stock 85.00% 85.00%  
Issuance under employee stock purchase plan (in shares) 314,397 123,664  
2017 Employee Stock Purchase Plan | Maximum      
Stock-based compensation      
Shares Authorized 893,441    
Threshold percentage of share available to grant 1.00%