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Stock-Based Compensation - Employee Stock Purchase Plan (Details) - shares
1 Months Ended 12 Months Ended
Jul. 31, 2020
Jan. 31, 2018
Dec. 31, 2020
Employee Stock Purchase Plan      
Stock-based compensation      
Total shares authorized     600,000
Shares available for future purchases     552,629
Employee Stock Purchase Plan      
Stock-based compensation      
Discount from the closing price on the exercise date (as a percent) 5.00% 5.00%  
Holding period for common stock purchased by plan participants     2 years
Shares issued to employee participants 19,069 12,341