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CONDENSED CONSOLIDATED BALANCE SHEETS (Parentheticals) - $ / shares
Sep. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, authorized (in shares) 400,000,000 400,000,000
Common stock, issued (in shares) 60,410,922 59,901,306
Common stock, outstanding (in shares) 60,410,922 59,901,306