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Stock-Based Compensation and Employee Benefit Plan - Employee Stock Purchase Plan (Details) - 2018 ESPP - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Employee stock ownership plan (ESOP), compensation expense $ 1.1 $ 2.9  
Share-based compensation arrangement by share-based payment award, shares issued in period 977,508    
Number of additional shares authorized (in shares) 1,902,572    
Number of common stock reserved for issuance (in shares) 3,512,465    
Unrecognized stock-based compensation cost $ 1.2   $ 5.5
Expense expected to be recognized over a weighted-average period 6 months 9 months 18 days