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Condensed Consolidated Balance Sheets (unaudited) (Parenthetical) - $ / shares
Sep. 30, 2021
Dec. 31, 2020
Statement Of Financial Position [Abstract]    
Common stock, par value $ 0.001 $ 0.001
Common stock, shares authorized 150,000,000 150,000,000
Common stock, shares issued 35,257,464 35,044,758
Common stock, shares outstanding 35,257,464 35,044,758
Preferred Stock, par value $ 0.001 $ 0.001
Preferred Stock Shares Authorized 10,000,000 10,000,000
Preferred Stock, Shares Issued 0 0
Preferred Stock, Shares Outstanding 0 0