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Condensed Consolidated Statements of Stockholders' Equity (Parenthetical) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Sep. 30, 2020
Statement of Stockholders' Equity [Abstract]      
Common shares issues net of shares withheld (in shares) 8,113 114,288 140,305